Floating structure, control method, and program

Abstract

A floating structure 1 disposed in the natural environment transmits the position of the floating structure 1 to a processing device 2. The processing device 2 predicts a drifting position of the floating structure 1 at a predetermined time from the position of the floating structure 1 and environmental prediction information. When the predicted drifting position is not located in a desired area, the processing device 2 calculates control for minimizing a force for moving the floating structure to the desired area. The processing device 2 transmits instruction data 22 for driving in accordance with the calculated control to the floating structure 1.

Description

Floating structure, control method and program

[0001] The present disclosure relates to a floating structure, a control method, and a program.

[0002] The TRITON buoy is known as a floating structure that exists in a fixed area on the water, such as the ocean surface (see Non-Patent Document 1). The TRITON buoy is moored to the seabed.

[0003] JAMSTEC, "Studying the Atmosphere," [online], [Retrieved December 15, 2023], Internet <URL: https: / / www.jamstec.go.jp / j / about / equipment / observe / atomosphere.html>

[0004] However, mooring a floating structure requires costs, labor, and the like.

[0005] The present disclosure has been made in consideration of the above circumstances, and the purpose of the present disclosure is to provide a technology that enables a floating structure to exist in a specified area without mooring.

[0006] A floating structure according to one embodiment of the present disclosure includes a sensor for measuring the position of the floating structure installed in a natural environment, a propulsion unit for converting natural forces into propulsive force and controlling the direction in which the propulsive force acts, and a control unit for transmitting the position of the floating structure to a processing device and controlling the propulsion unit in accordance with instruction data received from the processing device.

[0007] In one aspect of the control method of the present disclosure, a floating structure transmits the position of the floating structure installed in a natural environment to a processing device, the processing device predicts the drifting position of the floating structure at a predetermined time based on the position of the floating structure and environmental prediction information, and if the predicted drifting position is not located in a desired area, the processing device calculates control that minimizes the force that moves the floating structure to the desired area, the processing device transmits instruction data to the floating structure to drive it in accordance with the calculated control, the floating structure controls a propulsion unit in accordance with the instruction data received from the processing device, and the propulsion unit converts natural force into propulsion force and controls the direction in which the propulsion force acts.

[0008] A program according to one aspect of the present disclosure causes a computer to function as a drift prediction unit that predicts the drifting position of a floating structure at a predetermined time based on the position of the floating structure and environmental prediction information, a calculation unit that calculates control to minimize the force that moves the floating structure to the desired area if the predicted drifting position is not located in the desired area, and an instruction unit that transmits instruction data to the floating structure to drive it in accordance with the calculated control.

[0009] According to the present disclosure, it is possible to provide a technology that allows a floating structure to exist in a predetermined area without mooring.

[0010] FIG. 1 is a diagram illustrating the system configuration of a control system according to the present disclosure and functional blocks of a processing device. FIG. 2 is a diagram illustrating an example of a predetermined area and the position of a floating structure at a reference time. FIG. 3 is a diagram illustrating an example of the position of a floating structure after a predetermined time has elapsed, where FIG. 3( a) shows an example of the position when there is no control by the control system, and FIG. 3( b) shows an example of the position when the control system controls the position of the floating structure. FIG. 4 is a diagram illustrating an example of the configuration of a floating structure according to the present disclosure. FIG. 5 is a diagram illustrating an example of a wind propulsion mechanism and a wave propulsion mechanism provided on a floating structure. FIG. 6 is a diagram illustrating an example of a movement direction depending on the wind incident direction and the control state of the wind propulsion mechanism. FIG. 7 is a diagram illustrating an example of a movement direction depending on the wave incident direction and the control state of the wave propulsion mechanism. FIG. 8 is a diagram illustrating an example of a movement direction combining propulsion forces due to wind and wave power. FIG. 9 is a diagram illustrating an example of course adjustment to a destination. FIG. 10 is a diagram illustrating an example of course adjustment during observation at the same position. FIG. 11 is a flowchart illustrating an example of processing of a floating structure. Fig. 12 is a flowchart explaining an example of processing by the processing device. Fig. 13 is a diagram explaining an example of the position of a floating structure, Fig. 13(a) being at a reference time and Fig. 13(b) being three hours after the reference time. Fig. 14 is a diagram explaining an example of adjusting the position of a floating structure by a control system according to the present disclosure. Fig. 15 is a diagram explaining the hardware configuration of a computer used in the processing device.

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same parts are designated by the same reference numerals and the description thereof will be omitted.

[0012] (Control System) The control system 5 shown in Fig. 1 includes a floating structure 1 and a processing device 2. The floating structure 1 and the processing device 2 are connected to each other via wireless communication such as satellite communication so as to be able to communicate bidirectionally.

[0013] The floating structure 1 is a structure installed in a natural environment and floating on the surface of water or the ocean. The floating structure may also be referred to as a floating structural device. The floating structure 1 has a plurality of sensors 14 and collects information about and measures the surrounding environment at the installed location. As will be described later, the floating structure 1 has a propulsion unit 15 that converts natural force into propulsive force and controls the direction in which the propulsive force acts. In addition to the propulsion unit 15 that propels the floating structure 1 using natural force, the floating structure 1 may also have a propulsion unit that propels using fuel such as electricity, gas, or oil. The floating structure 1 transmits the position of the floating structure 1 to the processing device 2 and controls the propulsion unit 15 according to instruction data 22 received from the processing device 2.

[0014] The processing device 2 determines the destination of the floating structure 1 from the position acquired from the floating structure 1, and calculates control for moving the floating structure 1 to the determined destination. The processing device 2 generates instruction data 22 that causes the floating structure 1 to operate in accordance with the calculated control, and transmits it to the floating structure 1. The processing device 2 is provided at a location away from the floating structure 1, such as on land.

[0015] In the present disclosure, the control system 5 controls the position of the floating structure 1 using the propulsion unit 15 of the floating structure 1 so that at least one floating structure 1 is located in a predetermined area at a predetermined time.

[0016] As shown in FIG. 2( a), a case where desired areas A to H are arranged will be described. The areas may be adjacent to each other or may be discretely arranged. While the present disclosure describes a case where there are multiple predetermined areas and a floating structure 1 is located in each of the predetermined areas, this is not limiting. Any configuration is possible as long as the positions of multiple floating structures are controlled for multiple areas, such as one or more floating structures 1 located in one or more of the predetermined areas. Furthermore, the number of floating structures 1 in the control system 5 may be equal to or greater than the number of predetermined areas. For example, if there are eight predetermined areas, the number of floating structures 1 may be eight or more, and may even be 100. It can be expected that the greater the number of floating structures 1 relative to the number of areas, the smaller the total force required to move each floating structure 1 so that one or more floating structures 1 are located in each area.

[0017] 2(b) shows an example of the position of each floating structure 1 at the reference time. In FIG. 2(b), one floating structure 1 is located in each of desired areas A to H.

[0018] Since the floating structures 1 are installed in the natural environment, they may move due to drifting or other reasons as the natural environment changes. As time passes from the state shown in Figure 2(b), each floating structure 1 will drift according to the environment in which it is installed, and as shown in Figure 3(a), areas may appear where no floating structures 1 exist. In the example shown in Figure 3(a), no floating structures 1 exist in desired areas A, C, and G.

[0019] The control system 5 controls the propulsion unit 15 of each floating structure 1 so that each floating structure 1 is positioned in each area. As a result, after a certain time has passed from the state shown in Fig. 2(b), each floating structure 1 is positioned in each area as shown in Fig. 3(b).

[0020] In the present disclosure, the control system 5 controls the propulsion unit 15 of the floating structure 1 to make the floating structure exist in a predetermined area without mooring. In this way, the control system 5 allows each floating structure 1 to perform a desired operation in each predetermined area.

[0021] (Floating Structure) A floating structure 1 according to the present disclosure will be described with reference to FIG.

[0022] The floating structure 1 includes a control unit 11, one or more sensors 14, and a propulsion unit 15. The propulsion unit 15 converts natural forces into propulsion forces and controls the direction in which the propulsion forces act. The propulsion unit 15 includes a wind propulsion mechanism 12 and a wave propulsion mechanism 13. In this disclosure, wind force and wave force are used as examples of natural forces, but the present disclosure is not limited to these. The floating structure 1 may further include a propulsion unit that uses fuel such as electricity, gas, or oil for propulsion.

[0023] The control unit 11 communicates with the processing device 2 and controls each unit of the floating structure 1. The control unit 11 transmits the position of the floating structure 1 to the processing device 2 and controls the propulsion unit 15 according to instruction data received from the processing device 2. Specifically, the control unit 11 acquires information from the sensors 14 and controls the wind power propulsion mechanism 12 and the wave power propulsion mechanism 13. The control unit 11 can be composed of a control microcomputer and memory. The processing of the control unit 11 may be executed by a program. This program is stored in a storage device provided in the floating structure 1, and can also be recorded on a computer-readable non-transitory recording medium such as a magnetic disk, optical disk, or semiconductor memory, or provided via a network.

[0024] The control unit 11 may include a memory for storing observation data obtained by the sensor 14 and a communication antenna. The control unit 11 may communicate with the processing device 2 via a satellite, or may communicate with the processing device 2 via a parent device installed near the floating structure 1.

[0025] 5, the floating structure 1 according to the present disclosure is an observation device floating on the sea surface. The wind propulsion mechanism 12 is attached to the upper part of the floating structure 1 (above the sea surface), and the wave propulsion mechanism 13 is attached to the lower part of the floating structure 1 (below the sea surface).

[0026] The wind propulsion mechanism 12 includes a propulsion force converter 121 that converts wind into propulsion force, and a propulsion direction changer 122 that changes the direction in which the propulsion force acts, i.e., the propulsion direction, and provides propulsion force to the floating structure 1 using wind force. For example, the propulsion force converter 121 obtains propulsion force using lift generated when receiving wind. The propulsion direction changer 122 may change the propulsion direction by changing the direction in which the sail receives the wind, as in sailing, for example. The propulsion force converter 121 may adjust the propulsion force generated by wind force by changing the area of ​​the sail that receives the wind. Note that the means for changing the propulsion force and propulsion direction are not limited to those disclosed herein, and other means may be used.

[0027] The wave-power propulsion mechanism 13 includes a propulsion converter 131 that converts waves into propulsion, and a propulsion direction changer 132 that changes the direction in which the propulsion applies, i.e., the propulsion direction, and applies propulsion to the floating structure 1 using waves. For example, the propulsion converter 131 converts the vertical movement of the floating structure 1 caused by waves into propulsion. The propulsion direction changer 132 may change the orientation of the wave-power propulsion mechanism 13 itself using power, or may change the propulsion direction by attaching a ladder to the propulsion direction changer 132 and moving the ladder. The propulsion converter 131 may adjust the propulsion force generated by wave power by changing the number of movements per unit time, the angle of movement, or both the number of movements per unit time and the angle of movement of the propulsion converter 131. Note that the means for changing the propulsion force and propulsion direction are not limited to those disclosed herein, and other means may be used.

[0028] Neither the wind power propulsion mechanism 12 nor the wave power propulsion mechanism 13 obtains propulsion force using power such as electricity stored in a battery.

[0029] The sensor 14 is a sensor for measuring the physical quantity of the observation target and a sensor for obtaining environmental information around the floating structure 1. The sensor 14 is a Global Positioning System (GPS) that measures the position of the floating structure installed in the natural environment. Other sensors 14 include a Conductivity Temperature Depth (CTD) sensor, a chlorophyll sensor, a camera, an accelerometer, a current direction and velocity meter, and a wind direction and velocity meter. These sensors are only examples, and other sensors may also be installed.

[0030] Although not shown, the floating structure 1 is provided with batteries for operating each part. The floating structure 1 may also be provided with solar panels for charging the batteries.

[0031] Next, the position control of the floating structure 1 will be described. In the present disclosure, the processing device 2 predicts the direction of movement of the floating structure 1 due to wind and wave forces, and derives the operation of the wind propulsion mechanism 12 and the wave propulsion mechanism 13 so that the movement direction is toward the destination. In the present disclosure, the destination is the area where each floating structure should be located. The operation issued by the processing device 2 is transmitted to the floating structure 1.

[0032] When deriving the operation of the floating structure 1, the processing device 2 obtains necessary environmental information such as wave height, wave period, wave direction, wind direction, and wind speed around the floating structure 1. The processing device 2 may obtain the environmental information from sensors equipped in the floating structure 1, or may obtain the environmental information from an external device via communication. The floating structure 1 transmits the obtained environmental information to the processing device 2 and receives the operation derived by the processing device 2. The floating structure 1 drives the propulsion unit 15 in accordance with the operation received from the processing device 2.

[0033] As shown in Figures 6 and 7, the direction and distance of movement of the floating structure 1 according to the direction and strength of the wind or waves incident on the floating structure 1 and the control state (propulsion direction) of the wind power propulsion mechanism 12 and the wave power propulsion mechanism 13 are derived in advance by simulation or experiment. For example, Figures 6(a) and 6(b) show the same wind direction but different control states of the propulsion direction changing unit 122. Figures 7(a) and 7(b) show the same wave direction but different control states of the propulsion direction changing unit 132. In Figures 6 and 7, the incident direction of the wind or waves is indicated by a dashed arrow, and the movement direction is indicated by a solid arrow.

[0034] As shown in Figures 6 and 7 , even if the wind direction or wave direction is the same, the movement direction differs depending on the control state. For each wind and wave condition, the processing device 2 stores information on the propulsion force due to wind power, which is determined by the combination of the wind condition and the control state of the wind propulsion mechanism 12, and information on the propulsion force due to wave power, which is determined by the combination of the wave condition and the control state of the wave propulsion mechanism 13, and predicts the movable range of the floating structure 1 based on this information and the wind and wave conditions. The processing device 2 predicts the movable range of the floating structure 1 for each control state and determines the operation of the wind propulsion mechanism 12 and the wave propulsion mechanism 13 so that the predicted position falls within the destination area. The control states are not limited to the two stages shown in Figures 6 and 7 , but there are multiple stages for each of the wind propulsion mechanism 12 and the wave propulsion mechanism 13.

[0035] Once the wind and wave conditions are known, it is possible to predict the direction and speed at which the floating structure 1 can move using the wind, as well as the direction and speed at which the floating structure 1 can move using the waves. For example, when wind is incident as shown in Figure 8(a), it is known that the floating structure 1 will move in the direction of the solid arrow in Figure 8(a) due to wind force, and when waves are incident as shown in Figure 8(b), it is known that the floating structure 1 will move in the direction of the solid arrow in Figure 8(b) due to wave force. By combining the propulsive forces due to the wind force and the wave force, it is possible to predict that the floating structure 1 will move toward the destination, as shown in Figure 8(c).

[0036] If the combined moving direction of the propulsion forces due to wind and wave forces is not the direction of the destination, the processing device 2 predicts the moving direction and moving distance of the floating structure 1 when the control state of the propulsion unit 15 is changed, and derives a control state that brings the moving direction closer to the destination. The processing device 2 derives the control state of at least one of the wind power propulsion mechanism 12 and the wave power propulsion mechanism 13 of the propulsion unit 15. For example, as shown in Figures 6 and 7, when wind and waves are incident, if the moving direction in the control states of Figures 6(a) and 7(a) is not the destination, the processing device 2 predicts the moving direction and moving distance of the floating structure 1 when the wind power propulsion mechanism 12 is changed to the state shown in Figure 6(b), when the wave power propulsion mechanism 13 is changed to Figure 7(b), or when the wind power propulsion mechanism 12 is changed to Figure 6(b) and then the wave power propulsion mechanism 13 is changed to Figure 7(b), and derives an operation that brings the floating structure 1 closest to the destination. The processing device 2 preferably selects an operation that minimizes the energy required to change the control state of the wind power propulsion mechanism 12 and the wave power propulsion mechanism 13 .

[0037] As long as the floating structure 1 can be at the destination at the observation time, the trajectory of movement does not have to be a straight line connecting the floating structure 1 and the destination, as shown in Figure 9. For example, a distance to the destination is set according to the time until the observation time, and an operation for the floating structure 1 is determined so that the floating structure 1 can be located within the set distance.

[0038] Furthermore, if observation is desired at the same position, drift movement due to wind or waves may not be canceled out linearly, but may be moved back and forth and left and right, as shown in FIG. 10, resulting in the return to the same position at the time of observation.

[0039] (Processing Device) The processing device 2 will be described with reference to Fig. 1. The processing device 2 includes sensor data 21 and instruction data 22, and functions of an acquisition unit 25 and a processing unit 26. Each piece of data is stored in a storage device such as a memory 902 or a storage 903. Each function is implemented in a CPU 901.

[0040] The sensor data 21 is data measured by the sensors 14 of each floating structure 1. The sensor data 21 includes the position of each floating structure 1 at a reference time. The sensor data 21 is acquired from the floating structure 1 by the acquisition unit 25 and processed by the processing unit 26.

[0041] The instruction data 22 instructs the driving details of the propulsion unit 15 in each floating structure 1. The instruction data 22 is generated by the processing unit 26 and transmitted to the floating structure 1.

[0042] The instruction data 22 may include an instruction to make the floating structure 1 perform a desired operation. The desired operation is an observation by the sensor 14. Alternatively, the instruction data 22 may include a condition for making the floating structure 1 perform a desired operation. The condition may be a position, a time, or the content of a desired operation. The floating structure 1 may monitor the condition of the instruction data 22, and perform the desired operation when the condition is met.

[0043] The acquisition unit 25 acquires data measured by the sensors 14 of the floating structure 1 from the floating structure 1, and generates sensor data 21. The acquisition unit 25 may further acquire the position of each floating structure 1, environmental information for desired area A to desired area H, and environmental forecast information up to a predetermined time from an external server or the like. The environmental information and environmental forecast information are processed by the processing unit 26.

[0044] The acquisition unit 25 may further acquire the control status from each floating structure 1. Alternatively, the processing device 2 may hold the control status of each floating structure.

[0045] The processing unit 26 generates instruction data 22 for each floating structure 1 by referring to the position of each floating structure 1 at the reference time, the positions of desired areas A to H, environmental information at the reference time, and environmental prediction information up to a predetermined time. The processing unit 26 includes a drift prediction unit 261, a calculation unit 262, and an instruction unit 263.

[0046] The drift prediction unit 261 predicts the drift position of the floating structure 1 at a predetermined time based on the position of the floating structure 1 and the environmental prediction information. When there are multiple floating structures 1 to be controlled, the drift prediction unit 261 predicts the drift position of each of the multiple floating structures 1. Specifically, for each floating structure 1, the drift prediction unit 261 predicts the position of the floating structure 1 after a predetermined time based on the first propulsion force determined by a combination of wind conditions and the control state of the wind propulsion mechanism 12, the second propulsion force determined by a combination of wave conditions and the control state of the wave propulsion mechanism 13, the wind conditions, and the wave conditions.

[0047] If the drift position predicted by the drift prediction unit 261 is located in the desired area, the processing unit 26 ends the processing as is. Alternatively, the processing unit 26 causes the instruction unit 263 to create instruction data 22 indicating that there is no need to change the current drive.

[0048] If the predicted drift position is not located in the desired area, the processing unit 26 causes the calculation unit 262 to calculate control of the propulsion unit 15 of the floating structure 1 so that the floating structure 1 is located in each area. The calculation unit 262 calculates control that minimizes the force with which the floating structure 1 moves to the desired area. If there are multiple floating structures 1 to be controlled, and the predicted positions predicted for the multiple floating structures are not located in the desired area, the calculation unit 262 calculates control that minimizes the total force with which each of the multiple floating structures 1 moves to the desired area.

[0049] The calculation unit 262 predicts the position of each floating structure 1 when at least one of the control state of the wind power propulsion mechanism 12 and the control state of the wave power propulsion mechanism 13 is changed.

[0050] At this time, the calculation unit 262 determines the operation of the wind propulsion mechanism 12 and wave propulsion mechanism 13 of each floating structure 1 so that the destination of each floating structure 1 is either desired area A or desired area H, there is one or more floating structures 1 in each of desired area A to desired area H, and the total force for each floating structure 1 to move to its destination is minimized.

[0051] Here, the "force for each of the plurality of floating structures 1 to move to the desired area" is the force required for each floating structure 1 to move in accordance with the instruction data 22. Specifically, this force is determined from (i) wave conditions, (ii) wind conditions, (iii) sunlight conditions, (iv) battery conditions, etc.

[0052] The calculation unit 262 (i) acquires wave height, direction, etc. as wave conditions, and calculates the propulsive force that can be achieved by wave power obtained from the acquired wave conditions. The calculation unit 262 (ii) acquires wind strength, direction, etc. as wind conditions, and calculates the propulsive force that can be achieved by wave power obtained from the acquired wind conditions. The calculation unit 262 (iii) acquires the amount of sunlight as sunlight conditions, calculates the battery capacity that can be generated from the acquired amount of sunlight, and calculates the propulsive force that can be achieved by driving the propulsion unit 15 with the calculated battery capacity. The calculation unit 262 (iv) calculates the battery capacity that can be applied to drive the propulsion unit 15 from the amount of power required for the floating structure 1 to communicate and perform intended actions, etc., and the current remaining battery capacity, as battery conditions, and calculates the propulsive force that can be achieved by driving the propulsion unit 15 with the calculated battery capacity.

[0053] The calculation unit 262 determines the control of each floating structure 1 so as to minimize the sum of (i) to (iv). At this time, the calculation unit 262 may determine the control of the floating structure 1 under constraints such as driving the propulsion unit 15 of the floating structure 1 within the range of the battery capacity obtained by (iii) and (iv).

[0054] The instruction unit 263 transmits to the floating structure 1 instruction data 22 for driving in accordance with the control calculated by the calculation unit 262. The instruction unit 263 transmits to each floating structure 1 the instruction data 22 generated for that floating structure 1. The floating structure 1 controls the propulsion unit 15 in accordance with the instruction data 22 received from the processing device 2. The propulsion unit 15 converts natural force into propulsive force and controls the direction in which the propulsive force acts.

[0055] (Control Method) The process in the floating structure 1 will be described with reference to FIG.

[0056] In step S101, the floating structure 1 transmits the sensor data acquired from the sensor 14 to the processing device 2. The processing of step S101 is executed intermittently while the floating structure 1 is in operation.

[0057] When the instruction data is received from the processing device 2 in step S102, the floating structure 1 drives the propulsion section 15 in accordance with the received instruction data in step S103.

[0058] The processing in the processing device 2 will be described with reference to FIG.

[0059] In step S201, the processing device 2 receives the sensor data 21 from each floating structure 1. In step S202, the processing device 2 predicts the drift position of each floating structure 1 at a predetermined time.

[0060] In step S203, it is determined whether or not at least one floating structure exists in each desired area. If not, the process proceeds to step S204. If present, the process proceeds to step S206.

[0061] In step S204, the processing device 2 calculates the control of each propulsion unit so that the floating structure 1 is located in each desired area. In step S205, the processing device 2 transmits instruction data 22 specifying the calculated control to each floating structure 1.

[0062] When a predetermined time has elapsed since the processing of steps S201 to S206, the process proceeds to step S207.

[0063] In step S207, the processing device 2 receives the sensor data 21 from each floating structure 1. In step S208, the processing device 2 determines whether the position of each floating structure is as predicted. For example, the calculation unit 262 predicts the position of each floating structure 1 at a time when a predetermined time has elapsed since the processing of steps S201 to S206 was performed.

[0064] If the predicted position does not match the position acquired in step S207, the processing device 2 returns to step S204. The processing device 2 again calculates the control of each propulsion unit 15 and transmits the instruction data 22 to each floating structure 1. Here, the processing device 2 may calculate the control of the propulsion unit 15 and transmit the instruction data only for those floating structures 1 whose predicted position does not match the actual position of each floating structure 1.

[0065] If the predicted position and the position acquired in step S207 match, the process proceeds to step S209. In step S209, the processing device 2 instructs each floating structure 1 to perform a desired operation.

[0066] An example of a process for adjusting the position of a floating structure will be described with reference to FIGS. 13 and 14. FIG.

[0067] Figure 13(a) shows the position of each floating structure 1 at the reference time and the environmental prediction information. In Figure 13(a), the circles indicate the position of each floating structure 1. The symbols F1, F2, ... F12 in the circles are identifiers of the floating structures 1. The dashed lines indicate the path that each floating structure 1 will drift along according to the environmental prediction information. Figure 13(b) shows the state after a predetermined time has elapsed from the reference time. In some desired areas, no floating structures 1 are present, so control of the propulsion unit 15 is required.

[0068] The calculation unit 262 of the processing device 2 calculates the thrust required for control to move each floating structure 1 to each desired area. For example, eight thrusts are calculated, including a first thrust required when the first floating structure F1 moves to desired area A, a second thrust required when it moves to desired area B, and so on. Similarly, eight thrusts are calculated for the other floating structures 1. Here, the calculation unit 262 may calculate thrusts for all combinations of desired areas and floating structures 1, or may calculate thrusts for only some of the combinations.

[0069] The calculation unit 262 identifies a combination of movements in which at least one floating structure 1 is present in each desired area. For each combination, the calculation unit 262 calculates the sum of the propulsive forces of the floating structures 1 and identifies the combination with the smallest propulsive force. The instruction unit 263 generates and transmits instruction data 22 that instructs the control of each floating structure 1 according to the identified combination.

[0070] In the present disclosure, the processing device 2 identifies the control of each floating structure 1 from its position after a predetermined time has elapsed since the reference time, but this is not limiting. Generally, the floating structure 1 is required to operate continuously, such as by periodically measuring the values ​​of the sensors 14. Therefore, the processing device 2 may identify the control of each floating structure 1 so that at least one floating structure 1 is present in each desired area at the timing when each floating structure 1 performs the desired operation. Specifically, the processing device 2 may identify the combination with the smallest total propulsion force of each floating structure 1 from among the combinations of movements that result in at least one floating structure 1 being present in each desired area at multiple times, such as 3 hours, 6 hours, ..., 24 hours, from the reference time.

[0071] According to the control system 5 of the present disclosure, the floating structure 1 can be placed in a predetermined area without being moored.

[0072] The processing device 2 of the present disclosure described above is, for example, a general-purpose computer system including a CPU (Central Processing Unit, processor) 901, a memory 902, a storage 903 (HDD: Hard Disk Drive, SSD: Solid State Drive), a communication device 904, an input device 905, and an output device 906. In this computer system, the CPU 901 executes a program loaded on the memory 902, thereby realizing each function of the processing device 2.

[0073] The processing device 2 may be implemented by one computer or by multiple computers, or may be a virtual machine implemented on a computer.

[0074] The program of the processing device 2 can be stored in a computer-readable recording medium such as a HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), DVD (Digital Versatile Disc), or can be distributed via a network. The computer-readable recording medium is, for example, a non-transitory recording medium.

[0075] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the present disclosure.

[0076] REFERENCE SIGNS LIST 1 Floating structure 2 Processing device 5 Control system 11 Control unit 12 Wind power propulsion mechanism 13 Wave power propulsion mechanism 14 Sensor 15 Propulsion unit 21 Sensor data 22 Instruction data 25 Acquisition unit 26 Processing unit 121 Propulsion force conversion unit 122 Propulsion direction change unit 131 Propulsion force conversion unit 132 Propulsion direction change unit 261 Drift prediction unit 262 Calculation unit 263 Instruction unit 901 CPU 902 Memory 903 Storage 904 Communication device 905 Input device 906 Output device

Claims

1. A floating structure comprising a sensor for measuring the position of a floating structure installed in a natural environment, a propulsion unit that converts natural force into a propulsion force and controls the direction in which the propulsion force acts, and a control unit that transmits the position of the floating structure to a processing device and controls the propulsion unit according to instruction data received from the processing device.

2. A control method in which the floating structure transmits the position of the floating structure installed in the natural environment to a processing device, the processing device predicts the drifting position of the floating structure at a predetermined time from the position of the floating structure and environmental prediction information, and when the predicted drifting position is not located in a desired area, the processing device calculates control to minimize the force for the floating structure to move to the desired area, the processing device transmits instruction data for driving according to the calculated control to the floating structure, the floating structure controls the propulsion unit according to the instruction data received from the processing device, and the propulsion unit converts natural force into a propulsion force and controls the direction in which the propulsion force acts.

3. A program that causes a computer to function as a drift prediction unit that predicts the drifting position of a floating structure at a predetermined time from the position of the floating structure and environmental prediction information, a calculation unit that calculates control to minimize the force for the floating structure to move to a desired area when the predicted drifting position is not located in the desired area, and an instruction unit that transmits instruction data for driving according to the calculated control to the floating structure.

4. The program according to claim 3, wherein the drift prediction unit predicts the drifting positions of a plurality of floating structures, and the calculation unit calculates control to minimize the total force for each of the plurality of floating structures to move to the desired area when the predicted positions predicted for the plurality of floating structures are not located in the desired area, respectively.

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