Control system, control method, and program

Abstract

[Problem] To enable improvement in performance of monitoring and tracking of a moving body moving in a marine area or the like by means of a plurality of unmanned vessels. [Solution] The present invention is a control system that detects an object by means of a plurality of unmanned vessels capable of navigating on the water surface or in the water, said control system comprising: a measurement unit that acquires measured data using a measurement sensor mounted on each of the plurality of unmanned vessels; an object detection determination unit that processes the measured data to detect the object; an object analysis determination unit that determines at least one of the type, operation status, and dynamic performance of the detected object; and an unmanned vessel operation management unit that issues an operation command to the plurality of unmanned vessels. The unmanned vessel operation management unit determines the command content of the operation command for the plurality of unmanned vessels in accordance with the determination result from the object analysis determination unit.

Description

Control system, control method, and program

[0001] The present invention relates to a control system, a control method, and a program.

[0002] Patent Document 1 discloses a control device that includes an other-machine information acquisition means for acquiring information about the status of other machines, in order to optimize the behavior of the entire unmanned aircraft group while each machine in the unmanned aircraft group autonomously selects its own behavior; an action comparison means for acquiring information about the status of other machines from the other-machine information acquisition means and acquiring sensor signals including information about the status of the own machine, and calculating comparison values ​​for multiple types of actions that the own machine should take using the acquired information about the own machine and the other machines; an action selection means for selecting an action that the own machine should take based on the comparison values ​​of the multiple types of actions calculated by the action comparison means; an operation amount calculation means for calculating the operation amount of the own machine using information about the action selected by the action selection means and information about the status of the other machines obtained from the other-machine information acquisition means; and an operation setting means for setting operation setting values ​​of actuators that operate the own machine using the calculation results of the operation amount calculation means.

[0003] Re-table No. 2018-105599

[0004] Ocean surveillance has traditionally been carried out using a few manned patrol boats and research vessels to prevent nuisance and illegal fishing caused by suspicious vessels navigating the ocean, or to conduct ecological surveys of marine life. However, a few manned patrol boats have the problem of being unable to perform coordinated operations with multiple vessels, such as tracking handover, anticipation, encirclement, detention, and coordinated tracking. Furthermore, even when deploying a large number of manned patrol boats, it is not easy to quickly control and manage a large number of manned vessels. Furthermore, it is not easy to train personnel with the skills to perform such control and management. In recent years, the use of unmanned vessels capable of autonomously navigating the ocean has been considered, and it is expected that they will be used for the aforementioned monitoring of suspicious vessels and ecological surveys.

[0005] On the other hand, it is expected that suspicious ships and the like will attempt to escape surveillance and pursuit by drones by fleeing at high speed, fleeing in a direction where there are fewer drones, sudden acceleration and deceleration, sharp turns, etc. It is also expected that marine life such as whales and dolphins will similarly flee from research vessels.

[0006] Patent Literature 1 discloses a method for controlling a group of unmanned aerial vehicles, in which when a suspicious ship is discovered, a drone located near the suspicious ship is made to track the suspicious ship, while other drones continue to search for the unmanned ship. However, this control method has problems remaining, such as when the suspicious ship flees at high speed as described above, when the suspicious ship flees in a direction where there are fewer or no drones, or when marine life attempts to escape from the research vessel, it may escape from the pursuit by the drone, or it may be impossible to obtain evidential image data of the suspicious ship or research data of the marine life.

[0007] Therefore, the present invention has been made in consideration of at least one of the above problems, and one of its objectives is to provide a system or control method, etc., that can improve the performance of monitoring and tracking mobile objects moving in marine areas, etc., using multiple unmanned aerial vehicles.

[0008] According to the present invention, a control system is obtained that detects objects using a plurality of unmanned boats capable of navigating on or above the water surface, and includes a measurement unit that acquires measurement data using measurement sensors mounted on the plurality of unmanned boats, an object detection determination unit that processes the measurement data to detect the objects, an object analysis determination unit that determines at least one of the type, operating state, and dynamic performance of the detected objects, and an unmanned boat operation management unit that issues operation commands to the plurality of unmanned boats, wherein the unmanned boat operation management unit determines the content of the operation commands to the plurality of unmanned boats depending on the determination result by the object analysis determination unit.

[0009] According to the present invention, it is possible to improve the performance of monitoring and tracking moving objects moving in marine areas, etc., using multiple unmanned aerial vehicles.

[0010] 1 is a diagram showing the overall configuration of a control system 1 according to one embodiment of the present invention. FIG. 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in real space. FIG. 3 is a diagram showing stakeholders related to the control system 1. FIG. 4 is a diagram showing a configuration of a platoon 1010 composed of unmanned boats 1000. FIG. 5 is a conceptual diagram showing how an unmanned boat 1000 deployed on the sea monitors or tracks a suspicious ship 7000. FIG. 6 is a functional block diagram showing the functional configuration of the unmanned boat 1000. FIG. 7 is a functional block diagram showing the functional configuration of a determination unit 1500 of the unmanned boat 1000. FIG. 8 is a diagram showing determination items of the determination process executed by the object detection determination unit 1510. FIG. 9 is a functional block diagram showing the functional configuration of an integrated control system 2000. FIG. 10 is a state transition diagram showing speed etc. status related to the speed and acceleration / deceleration pattern of a suspicious ship determined by the navigation pattern determination unit 2250. FIG. 11 is a state transition diagram showing the course trajectory status related to the course pattern of a suspicious ship determined by the navigation pattern determination unit 2250. 20. A state transition diagram showing a disruptive navigation status relating to a navigation pattern intended to confuse tracking of a suspicious ship, as determined by the navigation pattern determination unit 2250. A state transition diagram showing an escape behavior status relating to a pattern of escape behavior of a suspicious ship, as determined by the behavior status determination unit 2260. A state transition diagram showing a tracking state determined by the tracking state determination unit 2330. A state transition diagram showing a prediction state of course prediction determined by the course prediction state determination unit 2340. A state transition diagram showing the state of an overall operation command determined by the overall operation determination unit 2410. A state transition diagram showing the state of a tracking formation command determined by the tracking operation determination unit 2430. A state transition diagram showing the state of a relative distance control command determined by the tracking operation determination unit 2430. A hardware configuration diagram of the overall control system 2000. A flowchart diagram showing the processing flow of the control system 1. A sequence diagram showing the exchange of signals between systems within the control system 1. A flowchart diagram showing the processing flow of object analysis and determination processing executed by the object analysis and determination unit 2200. 10 is a flowchart showing the flow of a process executed by a system state determination unit 2300 to determine the state or relative operating state of the unmanned watercraft 1000. FIG.FIG. 10 is a flowchart showing the processing flow for determining an operation command for the unmanned watercraft 1000 determined by the operation management unit 2400. FIG. 11 is a flowchart showing the processing flow for determining an operation command for the unmanned watercraft 1000 at the time of shake-off or the like, executed by the tracking shake-off response action determination unit 2440. FIG. 12 is a diagram showing the positional relationship and communication connection relationship of the multiple unmanned watercraft 1000 in the platoon 1010. FIG. 13 is a diagram showing the arrangement relationship of the multiple platoons 1010. FIG. 14 is a diagram showing the state of position control at times t1 and t2 when an object is tracked by multiple unmanned watercrafts 1000. FIG. 15 is a diagram showing the state of position control at times t3 and t4 when an object is tracked by multiple unmanned watercrafts 1000. FIG. 16 is a diagram showing the state of position control at times t5 and t6 when an object is tracked by multiple unmanned watercrafts 1000. FIG. 17 is a diagram showing the state of position control at times t7 and t8 when an object is tracked by multiple unmanned watercrafts 1000. FIG. 18 is a diagram showing the state of time series handover when tracking handover control is performed. FIG. 10 is a diagram showing position control at times t20 and t21 when a plurality of unmanned watercrafts 1000 are surrounding an object with a first surrounding operation. FIG. 11 is a diagram showing position control at time t22 when a plurality of unmanned watercrafts 1000 are surrounding an object with a first surrounding operation. FIG. 12 is a diagram showing position control at times t30 and t31 when a plurality of unmanned watercrafts 1000 are surrounding an object with a second surrounding operation. FIG. 13 is a diagram showing position control at time t32 when a plurality of unmanned watercrafts 1000 are surrounding an object with a second surrounding operation. FIG. 14 is a diagram showing position control at times t40 and t41 when the action allocation determination unit 2420 assigns action roles to a plurality of unmanned watercrafts. FIG. 15 is a diagram showing times t42 and t43 when the action allocation determination unit 2420 assigns action roles to a plurality of unmanned watercrafts. FIG. 16 is a diagram showing times t44 and t45 when the action allocation determination unit 2420 assigns action roles to a plurality of unmanned watercrafts. Fig. 10 shows what happens at times t46 and t47 when the operation allocation determination unit 2420 assigns operation roles to multiple unmanned watercraft. Fig. 11 shows what happens at times t50 and t51 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. Fig. 12 shows what happens at times t52 and t53 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft.10A and 10B are diagrams showing what happens at times t54 and t55 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft, and FIG. 10C are diagrams showing what happens at times t56 and t57 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft.

[0011] The details of embodiments of the present invention are listed below and described. The present invention has the following configuration. [Item 1] A system for detecting objects using a plurality of unmanned watercraft capable of navigating on or above the water, comprising: a measurement unit that acquires measurement data using measurement sensors mounted on the plurality of unmanned watercraft; an object detection determination unit that processes the measurement data to detect the objects; an object analysis and determination unit that determines at least one of the type, operating state, and dynamic performance of the detected objects; and an unmanned watercraft operation management unit that issues operation commands to the plurality of unmanned watercraft, wherein the unmanned watercraft operation management unit determines the content of the operation commands to the plurality of unmanned watercraft according to the determination result by the object analysis and determination unit. [Item 2] A control system in accordance with the control system described in Item 1, wherein the unmanned watercraft operation management unit determines the assignment of operation roles to each of the plurality of unmanned watercraft, and issues the operation commands to the plurality of unmanned watercraft to perform the assigned operation roles. [Item 3] In the control system described in Item 1 or 2, the operational roles assigned to the plurality of unmanned vessels by the unmanned vessel operation management unit include at least one of the following: a role of tracking the object, a role of taking over tracking of the object, a role of anticipating the destination of the object, a role of surrounding the object, a role of relaying communications between the plurality of unmanned vessels, a role of storing the measurement data, and a role of performing analytical processing of the measurement data. [Item 4] In the control system according to any one of items 1 to 3, the operating state or dynamic performance of the object determined by the object analysis and determination unit includes: a past or current moving state including at least one of a past moving trajectory, a current traveling direction, a current heading direction, a current moving speed, a current acceleration, and a current deceleration of the object; a future predicted moving state including at least one of a future predicted course, a predicted position at a future time, a predicted speed at a future time, and a predicted traveling direction at a future time of the object; or dynamic performance including at least one of a maximum moving speed, a maximum turning speed, a maximum acceleration, a maximum deceleration, and a possible moving distance of the object.[Item 5] In the control system described in any one of items 1 to 4, when the type of the object determined by the object analysis and determination unit corresponds to a predetermined type, or when the current movement speed of the object is equal to or less than a predetermined value, the unmanned boat operation management unit issues an operation command to at least one of the plurality of unmanned boats to perform an encirclement operation to move the unmanned boat so that the object is inside the formation of the plurality of unmanned boats. [Item 6] In the control system described in any one of items 1 to 5, when the unmanned watercraft operation management unit issues a movement command for proactive operation to the destination of the object, the unmanned watercraft operation management unit issues the operation command to at least some of the multiple unmanned watercraft to move the unmanned watercraft to at least one of the positions or areas determined by the object analysis and determination unit, on an extension of the object's past movement trajectory or the surrounding area on that extension, ahead in the object's current direction of travel or the surrounding area, ahead in the object's current heading direction or the surrounding area, on the object's predicted future path or the surrounding area on that predicted path, or the predicted position of the object at a future time or the surrounding area of ​​the predicted position. [Item 7] In the control system according to any one of Items 1 to 6, the object includes an object moving on the water surface, underwater, or in the air, and the object analysis and determination unit determines a navigation pattern of the object including at least one of: stopped, where the object is stopped or almost stopped; navigation within a steady speed range of the object; navigation faster than the steady speed range; navigation slower than the steady speed range; accelerating navigation; decelerating navigation; repeated acceleration and deceleration; zigzag navigation, where the object navigates a zigzag path; turning course change, where the object changes course by making a turn; U-turn navigation; and figure-of-eight navigation, where the object navigates a figure-of-eight path. [Item 8] In the control system according to any one of items 1 to 7, the object analysis and determination unit determines the escape behavior state of the object, which includes at least one of behaviors of shaking off pursuit, behavior of avoiding being pursued, behavior of moving away from an approaching unmanned vessel, behavior of preventing a course prediction, behavior of avoiding a preemptive unmanned vessel, and behavior of avoiding being surrounded.[Item 9] The control system according to any one of items 1 to 8, further comprising a system state determination unit that determines the current or future states of the plurality of unmanned watercraft, or the current or future relative operational states of the plurality of unmanned watercraft and the object, and the unmanned watercraft operation management unit determines the operational commands to the plurality of unmanned watercraft according to the determination result by the system state determination unit. [Item 10] The control system according to any one of items 1 to 9, wherein the system state determination unit determines at least one of the positions, number of watercraft, movement direction, movement speed, possible movement distance, remaining energy, and an estimated value of the movement capability of the unmanned watercraft, including the movement speed or possible movement distance, in an external environment of the activity area of ​​the unmanned watercraft. [Item 11] The control system according to any one of items 1 to 10, wherein the system state determination unit determines a relative motion state including at least one of a tracking state in which the unmanned watercraft is tracking the object, a shake-off sign state in which the unmanned watercraft being tracked is showing signs of being shaken off due to the object's fleeing behavior, a shake-off occurrence state in which the unmanned watercraft being tracked has been shaken off due to the object's fleeing behavior, and a position capture lost state in which the unmanned watercraft has lost track of the object's position. [Item 12] The control system according to any one of items 1 to 11, wherein the system state determination unit performs a shake-off prediction determination to predict at least one of a predicted shake-off position and a predicted shake-off time at which the unmanned watercraft being tracked will be shaken off. [Item 13] The control system according to any one of items 1 to 12, wherein the system state determination unit determines that the state corresponds to the shake-off occurrence state when the relative distance between the unmanned watercraft being tracked and the object is equal to or greater than a predetermined distance.[Item 14] The control system according to any one of items 1 to 13, wherein the system state determination unit determines that the state corresponds to the sign of loss of control when the movement speed of the unmanned watercraft being tracked is slower than the movement speed of the object, or when the relative distance between the unmanned watercraft being tracked and the object is increasing over time, or when the movement distance of the unmanned watercraft being tracked is shorter than the movement distance of the object, or when the remaining energy of the unmanned watercraft being tracked is less than the remaining energy of the object. [Item 15] The control system according to any one of items 1 to 14, wherein the system state determination unit, when making the loss of control prediction determination, determines at least one of the predicted position at which the unmanned watercraft being tracked will be lost and the predicted time at which the unmanned watercraft being tracked will be lost, based on status information about the unmanned watercraft being tracked, including at least one of the movement speed, direction of movement, and position of the unmanned watercraft, and status information about the object, including at least one of the movement speed, direction of movement, and position of the object. [Item 16] A control system according to any one of items 1 to 15, wherein, when the system state determination unit determines that the state corresponds to the run-out symptom state, the run-out occurrence state, or the position capture lost state, the unmanned watercraft operation management unit decides whether to assign a role of taking over tracking to another unmanned watercraft different from the unmanned watercraft that is performing tracking. [Item 17] A control system according to any one of items 1 to 16, wherein, when the unmanned watercraft operation management unit assigns a role of taking over tracking to another unmanned watercraft different from the unmanned watercraft that is performing tracking, the unmanned watercraft operation management unit performs at least one of the following on the unmanned watercraft: selecting the unmanned watercraft to be assigned a role of taking over tracking of the target object; issuing the operation command to move the unmanned watercraft to the predicted run-out position; or issuing the operation command to move the unmanned watercraft to the predicted run-out position by the predicted run-out time.[Item 18] In the control system described in any one of Items 1 to 17, when the system state determination unit determines that the state corresponds to the runout symptom state or the runout occurrence state, and the object analysis determination unit determines at least one of the object's past movement trajectory, current traveling direction, current nose direction, future predicted course, and future predicted position, the unmanned watercraft operation management unit issues the operation command for a proactive operation to at least some of the multiple unmanned watercraft to move the unmanned watercraft to at least one of a position or area on an extension of the object's past movement trajectory determined by the object analysis determination unit or a surrounding area on the extension, forward in the object's current traveling direction or a surrounding area thereof, forward in the object's current nose direction or a surrounding area thereof, on the object's future predicted path or a surrounding area on the predicted path, or a predicted position of the object at a future time or a surrounding area of ​​the predicted position. [Item 19] The control system according to any one of items 1 to 18, wherein, when the system state determination unit determines that the state corresponds to the run-out symptom state, the unmanned watercraft operation management unit issues the operation command to the unmanned watercraft including at least one of an action of attaching paint or a transmitter to the object. [Item 20] The control system according to any one of items 1 to 19, wherein, when the system state determination unit determines that the state corresponds to the run-out occurrence state or the position capture lost state, the unmanned watercraft operation management unit issues the operation command to the unmanned watercraft that has entered the run-out occurrence state or the position capture lost state to assign an operation role to the unmanned watercraft that has entered the run-out occurrence state or the position capture lost state, including at least one of a role of taking over tracking of the object, a role of performing a proactive operation to the destination of the object, a role of performing a surrounding operation for the object, a role of relaying communications between the plurality of unmanned watercraft, a role of storing the measurement data, and a role of performing an analysis process of the measurement data.[Item 21] The control system according to any one of items 1 to 20, wherein the system state determination unit determines at least one of the following: whether a capture loss has occurred, in which the plurality of unmanned watercraft have lost capture of the target due to the target fleeing, whether a capture loss will occur in the future, a predicted loss position where the capture loss will occur, an area where the target can be captured, a predicted time where the capture loss will occur, and a time where the target can be captured. [Item 22] The control system according to any one of items 1 to 21, wherein the control system further comprises an information output unit that, when the system state determination unit determines that a capture loss has occurred or predicts that a capture loss will occur in the future, outputs information including at least one of information on the capture loss occurrence, the predicted loss position, the predicted loss time, and information on the target. [Item 23] In the control system according to any one of Items 1 to 22, when the object analysis and determination unit determines a predicted future course or a predicted position at a future time of the object, and when the object analysis and determination unit determines a navigation pattern of the object including at least one of stopped (where the object is stopped or almost stopped), traveling within a steady speed range of the object, traveling faster than the steady speed range, traveling slower than the steady speed range, accelerating, decelerating, repeated acceleration and deceleration, zigzag navigation traveling a zigzag route, turning course change performing a course change by turning, U-turn navigation, and figure-of-eight navigation traveling a figure-of-eight route, or an escape behavior state of the object including at least one behavior of shaking off pursuit, avoiding behavior of a leading unmanned vessel, disrupting course prediction, avoiding being surrounded, and moving away from an approaching unmanned vessel, The system state determination unit determines the validity of the determined future predicted route or the predicted position at a future time, depending on the navigation pattern or the escape behavior state.[Item 24] In a control system described in any one of items 1 to 23, when the unmanned watercraft operation management unit issues an operation command for a tracking operation of the object, the unmanned watercraft operation management unit issues the operation command including information about the tracking formation of the multiple unmanned watercraft, including at least one of tracking from behind the direction of travel of the object, tracking from two directions, left and right, relative to the direction of travel of the object, tracking from three directions, left and right and behind, relative to the direction of travel of the object, tracking from four directions, front, back, left and right, relative to the direction of travel of the object, and tracking from ahead of the direction of travel of the object. [Item 25] A control system according to any one of items 1 to 24, wherein, when the unmanned watercraft operation management unit issues an operation command for a tracking operation of the object, the unmanned watercraft operation management unit issues the operation command including information regarding at least one of the following tracking operations: an operation to prevent collision between the plurality of unmanned watercraft performing tracking operations for the object, an operation to prevent collision between the object and the unmanned watercraft, an operation to shorten the distance between the unmanned watercraft and the object, and an operation to increase the distance between the unmanned watercraft and the object. [Item 26] A control system according to any one of items 1 to 25, further comprising a user interface unit that displays candidate information for the operation command generated by the unmanned watercraft operation management unit and receives user input information for the operation command from a user, wherein, when the user input information is received by the user interface unit, the unmanned watercraft operation management unit determines the operation command in accordance with the user input information.[Item 27] ​​A control method for a system that detects objects using a plurality of unmanned watercraft capable of navigating on or above the water surface, the control method comprising: a measurement step in which a computer acquires measurement data using measurement sensors mounted on the plurality of unmanned watercraft; an object detection step in which the computer processes the measurement data to detect the objects; an object analysis step in which the computer determines at least one of the type, operating state, and dynamic performance of the detected objects; a command determination step in which the computer determines the content of an operation command to the plurality of unmanned watercraft based on the operation command; and an operation command step in which the computer issues commands to the plurality of unmanned watercraft based on the operation command. [Item 28] A program for controlling a system that detects objects using multiple unmanned watercraft capable of navigating on or above the water surface, the program causing a computer to execute: a measurement command to acquire measurement data using measurement sensors mounted on the multiple unmanned watercraft; an object detection command to process the measurement data and detect the objects; an object analysis command to determine at least one of the type, operating state, and dynamic performance of the detected objects; a command determination command to determine the content of an operation command to the multiple unmanned watercraft based on the determination result determined based on the object analysis command; and an operation execution command to issue commands to the multiple unmanned watercraft based on the operation command.

[0012] <A. First Embodiment> Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted. Furthermore, the embodiment described below is merely an example, and other known elements or alternative means may be adopted depending on the application, purpose, scale, etc.

[0013] [A-1. Configuration] (A-1-1. System Configuration) First, the system configuration of a control system 1 according to one embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG.

[0014] (A-1-1-1. Overview of System Configuration) FIG. 1 is a diagram showing the overall configuration of a control system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in FIG. 1, the control system 1 includes an unmanned watercraft 1000 and a general control system 2000. The general control system 2000 is also configured to be able to communicate with an external collaborative system 5000 and an external system 6000 via an internet line or the like, and is capable of inputting and outputting information. The general control system 2000 can send control commands to the unmanned watercraft 1000 deployed at sea via a terrestrial base station 4000 and a communication satellite 3000, and can also receive the operating status and measurement data of the unmanned watercraft 1000.

[0015] The unmanned boat 1000 is equipped with a parent unit 1001 capable of communicating with a communication satellite 3000, and a child unit 1002 capable of communicating directly or indirectly with the parent unit 1001, and a communication network is established between the parent unit 1001 and the multiple child units 1002. The multiple child units 1002 and the parent unit 1001 also have the function of detecting and measuring suspicious ships sailing on the sea or other moving objects moving on the sea using measurement sensors (optical cameras, IR cameras, laser sensors such as LiDAR and millimeter wave sensors, acoustic sensors such as sonar, etc.) mounted on the vehicle.

[0016] Detection information and measurement data of objects detected by the unmanned vessel 1000, as well as various information on the operational status of the unmanned vessel 1000, are transmitted to the overall control system 2000 via the communications satellite 3000 and the terrestrial base station 4000. Based on information obtained from the unmanned vessel 1000 and the external system 6000, the overall control system 2000 analyzes detected objects such as suspicious vessels 7000 and the unmanned vessel 1000, and generates operational commands for the unmanned vessel 1000. The generated information, such as operational commands, is transmitted to the cooperative system 5000, and external user input information can also be obtained from the cooperative system.

[0017] (A-1-1-2. Example of Implementation of Control System 1 in Real Space) Figure 2 is a diagram showing an example of an implementation image when the control system 1 is implemented in real space. In the example shown in Figure 2, a terrestrial base station 4000 and an integrated control system 2000 are provided on the ground side shown in the upper right of the figure. Also provided on the ground side is a cooperative system 5000 such as a monitoring organization facility, and further, an external system 6000 such as an AIS (Automatic Identification System) control center and AIS base station that manages information about ships sailing on the ocean is provided.

[0018] On the other hand, on the ocean side shown on the left side of the figure, unmanned vessel 1000, objects to be monitored and tracked such as suspicious vessel 7000, and part of a cooperative system 5000, including surveillance vessels operated by an external cooperative surveillance organization, are deployed. Multiple unmanned vessels 1000 (master vessel 1001 and slave vessel 1002) form multiple platoons 1010 (1010a, 1010b, 1010c), and each platoon can communicate directly or via a communications satellite 3000. The unmanned vessel 1000 can also communicate with a surveillance vessel directly or via the communications satellite 3000. For example, the unmanned vessel 1000 can notify the surveillance vessel of detection information regarding the suspicious vessel 7000. The unmanned vessel 1000 may also be communicatively connected to an AIS base station to acquire AIS information.

[0019] In the example shown in Figure 2, the overall control system 2000 is implemented in a facility on land, but this is not limited to this. All or part of the functions implemented in the overall control system 2000 shown in this embodiment can also be installed in other coastal field bases on land or manned ships at sea, and the unmanned boat 1000 can be operated at the coastal field bases or manned ships.

[0020] (A-1-2. Stakeholders Related to Control System 1) Figure 3 is a diagram showing stakeholders related to the control system 1. As shown in Figure 3, the control system 1 has an operator who operates the unmanned watercraft 1000 by inputting and outputting information via a user interface unit 2500 of the overall control system 2000. Note that if all or part of the functions implemented in the overall control system 2000 shown in this embodiment are implemented in a coastal field base on land or a manned ship at sea, the operator can operate the unmanned watercraft 1000 from the coastal field base or the manned ship.

[0021] In addition, there is a monitoring manager at the external cooperative monitoring organization facility of Cooperative System 5000, and observers on the monitoring boats, who work together to monitor nuisance behavior at sea, survey marine life, etc. In addition, there is a person in charge of generating, operating, and managing AIS information at the AIS control center of External System 6000.

[0022] Furthermore, there are crew members on the suspicious ship 7000 that is the target of monitoring by the control system 1 and the collaboration system 5000, and these crew members are engaging in nuisance activities. The information control system 1 can monitor and track the suspicious ship 7000 more efficiently by communicating and cooperating with the collaboration system 5000 and the external system 6000.

[0023] (A-1-3. Configuration of the unmanned watercraft 1000) Figure 4 is a configuration diagram showing a platoon 1010 made up of unmanned watercraft 1000. As shown in Figure 4, the unmanned watercraft 1000 is made up of one or more platoons 1010 (1010a, 1010b). Each platoon 1010 has at least one master unit 1001 and multiple slave units 1002. The master unit 1001 is connected to a communications satellite 3000 for communication, and has the function of aggregating information collected from multiple slave units 1002 and transmitting the information to 3000 via satellite communications, as well as transmitting information related to operational commands obtained from the communications satellite 3000 and information generated by the master unit 1001 directly or indirectly to each slave unit 1002.

[0024] 4 includes a primary connection slave device 10021 that is communicatively connected to a master device 1001, a secondary connection slave device 10022 that is communicatively connected to the primary connection slave device 10021, and a tertiary connection slave device 1023 that is communicatively connected to the secondary connection slave device 10022. Each slave device (primary connection slave device 10021, secondary connection slave device 10022, tertiary connection slave device 1023) has a function of relaying information received from another master device 1001 or slave device 1002 to the other master device 1001 or slave device 1002, thereby forming a communication network between the master device 1001 and the multiple slave devices 1002.

[0025] FIG. 5 is a conceptual diagram showing how an unmanned vessel 1000 deployed at sea monitors or tracks a suspicious vessel 7000. As shown in FIG. 5, multiple unmanned vessels (parent vessel 1001, child vessels 10021, 10022, and 1023) are deployed at sea, and a measurement sensor 1110 mounted on each unmanned vessel can detect the suspicious vessel 7000 within its measurement range. Measurement information and other data about the detected suspicious vessel 7000 is collected in the parent vessel 1001 via a communication network between the unmanned vessels, transmitted from the parent vessel 1001 to a communication satellite 3000, and then transmitted to a terrestrial base station 4000 or an internet connection to a central control system 2000. Each unmanned vessel is also equipped with a navigation unit 1300 that can navigate the unmanned vessel in any direction. Based on operational commands generated by the central control system 2000 or the parent vessel 1001, the suspicious vessel 7000 can be tracked after it is detected.

[0026] In the configuration of the present embodiment described with reference to Figures 1 to 5, a non-terrestrial network using a communication satellite 3000 in a geosynchronous orbit or a low Earth orbit is used as the communication network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft 1000. However, the present invention is not limited to this. A non-terrestrial network using an unmanned air vehicle known as a High Altitude Platform Station (HAPS) can also be used. In this case, for example, an unmanned air vehicle that circles at an altitude of approximately 8 to 50 km can be used. Furthermore, a communication network for transmitting and receiving information between the overall control system 2000 and the unmanned watercraft 1000 can also be used, which directly connects the terrestrial base station 4000 to the unmanned watercraft 1000 via wireless communication, without going through the communication satellite 3000 or the HAPS. The terrestrial base station 4000 is not limited to a fixed base station, and may be a mobile base station.

[0027] (A-1-4. Unmanned Watercraft 1000) Next, the functions and details implemented in the unmanned watercraft 1000 will be described using Figures 6 to 8. In the present invention, an unmanned watercraft refers to a mobile body that can navigate on or underwater, regardless of whether it is autonomous or remotely controlled, and includes a mobile body such as a mobile buoy equipped with a thrust generating unit.

[0028] (A-1-4-1. Functional configuration of unmanned watercraft 1000) Fig. 6 is a functional block diagram showing the functional configuration of unmanned watercraft 1000. Note that Fig. 6 explains the functional block diagram of unmanned watercraft 1000, but the parent unit 1001 and child unit 1002 of unmanned watercraft 1000 can implement functions similar to the configuration shown in Fig. 6. Unmanned watercraft 1000 includes a measurement unit 1100, a host watercraft state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, a recording unit 1600, and an other action execution unit 1700.

[0029] The measurement unit 1100 is a functional unit that detects a suspicious ship 7000 that is present within a measurable range around the unmanned craft 1000 using a measurement sensor 1110, and acquires measurement information about the suspicious ship 7000. The measurement unit 1100 includes a measurement sensor 1110 and a measurement control unit 1120.

[0030] The measurement sensor 1110 can be composed of, for example, optical sensors such as electro-optical sensors and infrared sensors (IR sensors) that acquire image data, laser sensors such as LiDAR sensors and ToF (Time of Flight) sensors that acquire point cloud data, radar sensors that detect microwaves, millimeter wave sensors that detect millimeter waves, acoustic sensors such as sonar, radio wave sensors that detect radio waves emitted by suspicious ships, etc. The measurement sensor 1110 measures the periphery of the parent unit 1001 to acquire measurement data of monitored objects such as suspicious ships that are present within the measurable range.

[0031] The measurement control unit 1120 also controls at least one of the attitude angles of the measurement sensor 1110 around three axes relative to the unmanned watercraft 1000 by operating a sensor attitude changing device that can change the attitude of the measurement sensor 1110. For example, if the measurement sensor is an optical camera or an infrared camera, the measurement control unit 1120 can change the zoom amount or resolution of the optical camera or infrared camera to any control amount. If the measurement sensor is a sonar, particularly an active sonar that emits sound waves, the measurement control unit 1120 can adjust the output of the generated sound waves to any control amount. The measurement control unit 1120 can also adjust the measurement sensitivity of the measurement sensor to any control amount.

[0032] Next, the aircraft state determination unit 1200 includes a navigation state determination unit 1210, an internal state determination unit 1220, and an external state determination unit 1230, and is a functional unit that determines the navigation state, internal state, and external state of the unmanned watercraft 1000. The navigation state determination unit 1210 determines the aircraft's position (two-dimensional or three-dimensional), movement speed, heading, movement direction, movement acceleration / deceleration, turning speed, and other state quantities related to the navigation state. The internal state determination unit 1220 determines the remaining energy of the battery and fuel installed in the aircraft, the travelable distance that can be calculated based on the remaining energy, temporary abnormalities (temperature abnormalities, communication abnormalities, etc.) of equipment installed in the aircraft, and equipment failure states. The external condition determination unit 1230 also determines communication conditions such as communication strength (dB value or RSSI value, etc.) and communication speed with other unmanned watercraft 1000 in the platoon 1010 with which it communicates, as well as ocean and tidal currents (current speed and direction), wind speed (wind speed and direction), wave height, and weather (rain, snow, cloudy, etc.) around the unmanned watercraft 1000. Here, the external condition determination unit 1230 can calculate the relative direction, relative distance, and relative position coordinates of the other unmanned watercraft 1000 with which it is communicating by analyzing the communication strength (RSSI value, etc.) with other unmanned watercraft 1000 in the platoon 1010.

[0033] The method by which the navigation state determination unit 1210 determines the position, movement speed, movement direction, and acceleration / deceleration of the aircraft itself is not particularly limited. For example, the current position, movement speed, and movement direction of the aircraft itself can be determined using a Global Navigation Satellite System (GNSS), a Global Positioning System (GPS), a Real-Time Kinematic - Global Navigation Satellite System (RTK-GNSS), or the like. Here, the aircraft's position information includes at least two-dimensional coordinate information (e.g., latitude and longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. The acceleration / deceleration can be calculated based on the amount of change over time in the determined movement speed. The current heading direction of the aircraft itself can be determined using, for example, a geomagnetic sensor, a GNSS compass, or SLAM technology using the shape of the seabed. The heading direction includes at least an attitude angle (azimuth) in a planar view around the Z axis, and preferably may be attitude information around three axes: the X axis, the Y axis, and the Z axis. The turning speed can also be calculated based on the amount of change over time in the determined heading information.

[0034] As another measurement method, the navigation state determination unit 1210 can use an inertial measurement unit (IMU) or gyro sensor that detects translational motion (mainly acceleration) and rotational motion (mainly angular velocity) in three orthogonal axis directions to measure the aircraft's position, velocity, and acceleration in the three orthogonal axis directions, as well as the attitude, angular velocity, and angular acceleration in the rotational directions of the three orthogonal axes.

[0035] The navigation unit 1300 includes a thrust generating unit, a steering unit, and a navigation control unit, and is a functional unit that navigates the parent vehicle 1001 in any direction according to operational commands received via the communication unit 1400. The thrust generating unit may be configured, for example, as a propeller, and thrust can be generated by driving the propeller with an engine or an electric motor. The thrust generating unit may also be configured as a sail that generates thrust by receiving wind, or as a wave glider that generates thrust by receiving wave power. The steering unit can change the heading direction of the unmanned watercraft by changing the attitude angle of the propeller or rudder. The navigation control unit is a functional unit that controls the navigation operation of the unmanned watercraft by controlling the output from the thrust generating unit and the attitude angle of the steering unit. The navigation control unit includes a processing unit that has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), an MPU, or a DSP), and has access to a memory (storage unit). The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more processing steps.

[0036] The processing unit includes a control module configured to control the navigation status of the aircraft. For example, the control module adjusts the aircraft's position on the sea surface, movement speed, movement acceleration / deceleration, heading, and turning speed. That is, the navigation control unit controls the navigation operation of the aircraft by causing the aircraft to perform various operations such as forward movement, reverse movement, acceleration, deceleration, and turning.

[0037] Next, the communication unit 1400 is equipped with an unmanned craft-to-unmanned craft communication unit 1410, a satellite communication unit 1420, and an external communication unit 1430, and is a functional unit that communicates with other unmanned crafts 1000 in the platoon 1010, the communication satellite 3000, external surveillance craft, and AIS base stations. The unmanned craft-to-unmanned craft communication unit 1410 is equipped with a communication antenna for unmanned craft-to-unmanned craft communication, and communicates with other unmanned crafts 1000 in the platoon 1010. The satellite communication unit 1420 is equipped with a satellite communication antenna, and communicates with the communication satellite 3000. The external communication unit 1430 is equipped with an AIS antenna and a VHF antenna, and communicates with external surveillance craft and AIS base stations.

[0038] Next, the determination unit 1500 is a functional unit that makes a determination regarding a monitored object such as a suspicious ship 7000. Details will be described later with reference to FIG.

[0039] Next, the recording unit 1600 includes a measurement data recording unit 1610, a host device state recording unit 1620, and a determination information recording unit 1630. The measurement data recording unit 1610 records measurement data measured by the measurement unit 1100. The host device state recording unit 1620 records various state information related to the host device determined by the host device state determination unit 1200. Furthermore, the determination information recording unit 1630 records various determination information determined by the determination unit 1500.

[0040] Next, the other action execution unit 1700 is a functional unit that performs a paint attachment action by spraying paint onto a tracking target such as the suspicious ship 7000, or a transmitter attachment action by throwing a transmitter or the like onto the tracking target.

[0041] (A-1-4-2. Functional Configuration of the Determination Unit 1500) Fig. 7 is a functional block diagram showing the functional configuration of the determination unit 1500 of the unmanned watercraft 1000. As shown in Fig. 7, the determination unit 1500 includes an object detection / determination unit 1510 and an object analysis unit 1520.

[0042] The object detection determination unit 1510 is a functional unit that includes an initial detection unit 1511, a detailed measurement determination unit 1512, a detailed detection unit 1513, and an object suitability determination unit 1514, and performs detection determination of objects such as the suspicious ship 7000. The initial detection unit 1511 performs initial detection of a monitored object based on measurement data acquired by the measurement unit 1100. The detailed measurement determination unit 1512 determines whether detailed measurement is necessary and the detailed measurement conditions based on the results of the initial detection determination. The detailed detection unit 1513 performs detailed detection determination of the monitored object based on the detailed measurement data obtained by the detailed measurement. The object suitability determination unit 1514 determines whether the detected object is a monitored object based on the results of the detailed detection determination. The determination contents by the object detection determination unit 1510 described above will be described in detail below with reference to FIG. 8.

[0043] Fig. 8 is a diagram showing determination items in the determination processing executed by the object detection determination unit 1510. In particular, Fig. 8 shows determination items in the initial detection by the initial detection unit 1511, the detailed measurement determination by the detailed measurement determination unit 1512, the detailed detection by the detailed detection unit 1513, and the object suitability determination by the object suitability determination unit 1514. As shown in Fig. 8, in the case where the object to be monitored is a suspicious ship 7000, the initial detection determination by the initial detection unit 1511 includes determination items such as a ship suitability determination for determining whether the detected object detected from the detection data is a ship, a shape determination of the detected object (ship), a direction determination of the detected object (ship), a relative distance determination between the detected object (ship) and the aircraft, a size determination of the detected object (ship), a type determination of the detected object (ship), a position coordinate determination of the detected object (ship), a predicted future route determination of the detected object (ship), and an estimation of the past route history of the detected object (ship).

[0044] The detailed measurement determination unit 1512 determines whether or not it is necessary to acquire detailed measurement data necessary to determine whether or not the object is a monitored object, and the measurement conditions for acquiring the detailed measurement data. Examples of conditions for acquiring detailed measurement data include an approaching image, measurement image data acquired from a different angle than that used during initial detection, and image acquisition using a higher light intensity than the measurement image acquired during initial detection. The detailed detection determination unit 1513 also performs image analysis to determine whether or not the object is a monitored object. This image analysis includes interpreting ship information (ship name, registration number, etc.) from images, interpreting the ship's detailed shape and characteristic shape from images, and so on. The object appropriateness determination unit 1514 determines whether or not the detected object (ship) is a monitored object based on the results of the detailed detection determination. Instead of providing binary information indicating whether or not the object is appropriate, the object appropriateness determination unit 1514 may also provide multiple levels of suspiciousness information indicating the probability that the object is appropriate.

[0045] Here, the type of detected object determined by the initial detection unit 1511 can be determined to be, for example, a ship capable of AIS inquiries, such as a cargo ship, a regular service ship, or a passenger ship, or a small or medium-sized private ship, such as a fishing boat, a pleasure boat, a yacht, a boat, or a water scooter, or an object moving on or underwater, such as a diver, a marine organism (such as a whale, a dolphin, or a school of fish), or an underwater drone. Birds and small drones flying in the air close to the water surface can also be detected.

[0046] Next, the object analysis unit 1520 is a functional unit that includes an operation status determination unit 1521, a performance determination unit 1522, and a future course prediction determination unit 1523, and updates and determines the position, performance, and future course prediction of the object based on the latest measurement data of the monitored object obtained by continuous measurement by the measurement unit 1100.

[0047] The motion state determination unit 1521 is a functional unit that determines the current motion state of the object based on the latest measurement data. The motion state determination unit 1521 determines the current position coordinates, speed, turning radius, turning speed, acceleration, and deceleration of the object. Here, the position coordinates may be two-dimensional coordinates on a horizontal XY plane, but are preferably three-dimensional coordinates in XYZ space that also include information in the height direction.

[0048] The performance determination unit 1522 is a functional unit that determines the dynamic performance of a detected object. For example, if the object is a suspicious ship, the performance determination unit 1522 predicts dynamic performance related to the navigation of the suspicious ship, including at least one of maximum speed, minimum turning radius, turning speed, acceleration, deceleration, and cruising range. The performance determination unit 1522 can determine each of the above-mentioned performances based on information determined by the initial detection unit 1511 and the operating state determination unit 1521. Furthermore, the performance may be determined based on information on the type of object determined by the initial detection unit 1511.

[0049] The future course prediction determination unit 1523 is a functional unit that predicts and determines the future course of a detected object. The future course prediction determination unit 1523 can predict and determine the future course based on, for example, the course history and current position and orientation information determined by the initial detection unit 1511 and the motion state determination unit 1521. The future course prediction determination unit 1523 may also predict and determine the future course based on type information of the object determined by the initial detection unit 1511.

[0050] (A-1-5. Configuration of Overall Control System 2000) Next, the functions and contents of the overall control system 2000 will be described with reference to Fig. 9. Fig. 9 is a functional block diagram showing the functional configuration of the overall control system 2000. As shown in Fig. 9, the overall control system 2000 includes an information import unit 2100, an object analysis and determination unit 2200, a system state determination unit 2300, an operation management unit 2400, a user interface unit 2500, an operation command unit 2600, and an information communication unit 2700.

[0051] (A-1-5-1. Information import unit 2100) The information import unit 2100 is a functional unit that imports information to be processed or used in each functional unit within the overall control system 2000 from the unmanned watercraft 1000, the cooperative system 5000, or the external system 6000. The information import unit 2100 includes a detection condition acquisition unit 2110, a detection information acquisition unit 2120, an external information acquisition unit 2130, and an external user input information acquisition unit 2140.

[0052] The detection condition acquisition unit 2110 is a functional unit that acquires information about the determination conditions when determination is made in each of the functional units of the object analysis and determination unit 2200, the system state determination unit 2300, and the operation management unit 2400, which will be described later.

[0053] The detection information acquisition unit 2120 is a functional unit that acquires detection information of objects determined by the determination unit 1500 of the unmanned watercraft 1000 via the communication satellite 3000, HAPS, etc., and measurement data measured by the unmanned watercraft 1000.

[0054] The external information acquisition unit 2130 is a functional unit that acquires navigation information of ships in the ocean area where the unmanned craft 1000 is deployed or the surrounding area from the AIS control center of the external system 6000. In addition, navigation information of ships may be acquired from another VHF Data Exchange System included in the external system 6000.

[0055] The external information acquisition unit 2130 may also acquire weather information for the ocean area where the unmanned craft 1000 is deployed or its surrounding area from an external system 6000 such as the Japan Meteorological Agency or a private weather information system.

[0056] The external user input information acquisition unit 2140 is a functional unit that receives external user input information from the collaboration system 5000. The external user input information received from the collaboration system 5000 can include a selection input for selecting an arbitrary operation command from a plurality of operation command candidates generated by the operation management unit 2400, an approval input for approving the operation command candidate, a correction request input for correcting part of the operation command candidate, or an intervention operation command input for instructing the execution of an intervention operation different from the operation command candidate.

[0057] (A-1-5-2. Object analysis and determination unit 2200) The object analysis and determination unit 2200 is a functional unit that analyzes the object based on the detection information and measurement data of the object acquired by the detection information acquisition unit 2120, and determines at least one of the object's type, operating state, and dynamic performance. The object analysis and determination unit 2200 includes a type determination unit 2210, an operating state determination unit 2220, a performance determination unit 2230, a course prediction determination unit 2240, a navigation pattern determination unit 2250, and an action status determination unit 2260.

[0058] The type determination unit 2210 is a functional unit that determines the type of an object based on the detection information and measurement data of the object acquired by the detection information acquisition unit 2120. The type determination unit 2210 can determine the type of object as a ship on the sea surface, a marine organism, a diver, etc. Here, the type determination unit 2210 can determine types including, for example, a cargo ship, a liner, a passenger ship, a fishing boat, a pleasure boat, a yacht, a boat, a water scooter, a diver, a marine organism (a whale, a dolphin, a school of fish, etc.), etc.

[0059] The type determination unit 2210 can determine the alert level based not only on the type of object but also on the detection information and measurement data of the object acquired by the detection information acquisition unit 2120. For example, the alert level can be determined on multiple levels, such as S, A, B, and C. For example, the alert level can be determined based on the object's type, size, detection date and time (time zone), detection location, speed and behavior measured by the unmanned watercraft 1000, movement speed, acceleration, and past movement trajectory determined by the operation status determination unit 2220 (described later), or the suspicious ship detection probability calculated based on AIS, SAR, and VDES information, or the results of determinations by the navigation pattern determination unit 2250 and the behavior status determination unit 2260 (described later). For example, if the time, position, and route of the suspicious ship detection match a time zone such as late night, a location where suspicious ships frequently appear, or an important route, the alert level can be set high. Furthermore, the overall operation determination unit 2410 (described later) can determine an overall higher-level operation command based on the alert level. Alternatively, the tracking operation determination unit 2430, which will be described later, can determine a tracking formation command according to this alert level.

[0060] If the type or alert level of the object determined by the type determination unit 2210 is indefinite, additional measurement data is required to identify the object, so a re-measurement command may be sent to the unmanned watercraft 1000. In addition, the display unit 2510 of the user interface unit 2500, which will be described later, may be notified that the determination is indefinite, and input information regarding the need to acquire additional measurement data may be received from the user.

[0061] The motion state determination unit 2220 is a functional unit that determines the past or present movement state of the object based on the information acquired by the detection information acquisition unit 2120. The motion state determination unit 2220 determines the past movement trajectory, current traveling direction, current heading direction, current movement speed, current acceleration, current deceleration, and further the current position coordinates, turning radius, and turning speed of the object. Here, the position coordinates may be two-dimensional coordinates on a horizontal XY plane, but are preferably three-dimensional coordinates in XYZ space that also include information in the height direction.

[0062] The performance determination unit 2230 is a functional unit that determines the dynamic performance of the object based on the information acquired by the detection information acquisition unit 2120 or the determination information of the operation state determination unit 2220. For example, when the object is a suspicious ship, the performance determination unit 1522 predicts the dynamic performance related to the navigation of the suspicious ship, including at least one of the maximum movement speed, minimum turning radius, maximum turning speed, maximum acceleration, maximum deceleration, and possible movement distance.

[0063] The path prediction determination unit 2240 is a functional unit that predicts and determines the future movement state of the detected object. The path prediction determination unit 2240 can predict and determine the future movement state of the object, including at least one of the predicted future path of the object, the predicted position at a future time, the predicted speed at a future time, and the predicted direction of travel at a future time, based on information such as the movement trajectory, current position, traveling direction, nose direction, and response speed of the object determined by the initial detection unit 1511 and the motion state determination unit 2220.

[0064] The navigation pattern determination unit 2250 is a functional unit that determines the navigation pattern of the suspicious ship, which is the target. The navigation pattern determination unit 2250 can determine, as the navigation pattern of the suspicious ship, for example, the status related to the speed and acceleration / deceleration pattern of the suspicious ship, the status related to the navigation path of the suspicious ship, or the status related to the tracking disruptive navigation of the suspicious ship. The contents of the determination of each status of the suspicious ship by the navigation pattern determination unit 2250 will be explained below with reference to Figures 14 to 16.

[0065] 10 is a state transition diagram showing the speed and acceleration / deceleration patterns of the suspicious vessel determined by the navigation pattern determination unit 2250. As shown in FIG. 10, the speed and other statuses of the suspicious vessel determined by the navigation pattern determination unit 2250 include a stopped state in which the suspicious vessel is stopped or almost stopped, a steady cruising state in which the suspicious vessel is cruising within a steady speed range, a high-speed steady cruising state in which the suspicious vessel is cruising steadily at a speed higher than the steady speed range, a low-speed steady cruising state in which the suspicious vessel is cruising steadily at a speed lower than the steady speed range, a rapid acceleration state in which the suspicious vessel is accelerating rapidly, a rapid deceleration state in which the suspicious vessel is decelerating rapidly, and a repeated rapid acceleration / deceleration state in which the suspicious vessel is repeating rapid acceleration and rapid deceleration. The navigation pattern determination unit 2250 can determine which of the speed and other statuses shown in FIG. 10 the suspicious vessel's status corresponds to, based on the speed, acceleration, and deceleration information determined by the operation state determination unit 2220.

[0066] Figure 11 is a state transition diagram showing the course trajectory status relating to the course pattern of the suspicious ship determined by the navigation pattern determination unit 2250. As shown in Figure 11, the course trajectory status of the suspicious ship determined by the navigation pattern determination unit 2250 includes each of the following states: a stopped state in which the suspicious ship's movement is stopped, a straight course cruising state in which the ship is navigating a straight course, a straight-ahead state in which the ship increases the distance to the unmanned boat 1000 while continuing to navigate straight, a sideways state in which the ship approaches the unmanned boat 1000, a wide-open state in which the ship moves away from the unmanned boat 1000, a normal turning state in which the ship turns at a gentle angle, an obtuse-angle course change state in which the ship changes course at a gentle angle, and a sharp-angle course change state in which the ship changes course at an acute angle.

[0067] The navigation pattern determination unit 2250 can determine which course trajectory status shown in Figure 11 the state of the suspicious ship corresponds to, based on the turning radius and turning speed determined by the operation status determination unit 2220, or the route history and current position and orientation information determined by the initial detection unit 1511.

[0068] Fig. 12 is a state transition diagram showing the disruptive navigation status related to a navigation pattern intended to confuse the tracking of a suspicious ship, as determined by the navigation pattern determination unit 2250. As shown in Fig. 12, the disruptive navigation status of a suspicious ship determined by the navigation pattern determination unit 2250 includes a normal cruising state within a steady speed range, a sudden stop state, a zigzag navigation state in which the ship navigates a zigzag route, a figure-of-eight navigation state in which the ship navigates a figure-of-eight route, a U-turn state in which a U-turn is made, a non-disruptive escape navigation state in which the ship escapes without any disruptive action, and an escape navigation abandonment state in which the ship abandons escape.

[0069] The navigation pattern determination unit 2250 can determine which of the disturbed navigation statuses shown in Figure 12 the state of the suspicious ship corresponds to, based on the speed, acceleration, deceleration, turning radius, and heading speed determined by the operation status determination unit 2220, or the route history and current position and orientation information determined by the initial detection unit 1511.

[0070] Next, the behavior status determination unit 2260 is a functional unit that determines the escape behavior status of the suspicious ship, which is the target. The behavior status determination unit 2260 is a functional unit that determines the state or intention of the escape behavior of the suspicious ship's pilot as the escape behavior status of the suspicious ship. Below, the determination of the escape behavior status of the suspicious ship by the behavior status determination unit 2260 will be described using Figure 13.

[0071] 13 is a state transition diagram showing escape behavior statuses relating to the escape behavior patterns of a suspicious ship determined by the behavior status determination unit 2260. As shown in Fig. 13, the escape behavior statuses of a suspicious ship determined by the behavior status determination unit 2260 include normal cruising, an escape and escape state in which an escape behavior is performed to escape pursuit from the unmanned vessel 1000, a stalking avoidance state in which an escape behavior is performed to avoid stalking by the unmanned vessel 1000, an approaching vessel distance state in which an approaching unmanned vessel 1000 is distanced to avoid taking precise evidence photographs, a course prediction prevention state in which the course is prevented from being predicted, a proactive vessel avoidance state in which a preemptive vessel avoids a preemptive unmanned vessel, an encirclement prevention state in which the ship is prevented from being surrounded by the unmanned vessel 1000, and an escape navigation abandonment state in which the escape navigation is abandoned.

[0072] The navigation pattern determination unit 2250 can determine which escape behavior status shown in Figure 13 the state of the suspicious ship corresponds to based on the various operating states of the suspicious ship determined by the operating state determination unit 2220 and the various navigation patterns of the suspicious ship determined by the navigation pattern determination unit 2250.

[0073] (A-1-5-3. System state determination unit 2300) The system state determination unit 2300 is a functional unit that determines the current or future state of the unmanned vessel 1000, or the current or future relative operating state of the unmanned vessel 1000 and the target object (suspicious vessel 7000). The system state determination unit 2300 includes an unmanned vessel state determination unit 2310, a capture / loss prediction unit 2320, a tracking state determination unit 2330, and a course prediction state determination unit 2340.

[0074] The unmanned vessel status determination unit 2310 is a functional unit that determines the status of the unmanned vessel, for example, by determining at least one of the following: the position of multiple unmanned vessels, formation, number of vessels, direction of movement, movement speed, possible movement distance, remaining energy, estimated values ​​of the movement capability including the movement speed or possible movement distance of the unmanned vessel under the external environment such as waves, wind, and currents in the unmanned vessel's activity area, and predicted position at a future time.

[0075] The capture loss prediction unit 2320 determines whether a capture loss will occur in the future, either before tracking by the unmanned watercraft 1000 begins or while tracking by the unmanned watercraft 1000 is being performed, in which the target's position will be lost.If it determines that a capture loss will occur in the future, it determines the area in which the unmanned watercraft 1000 can capture the target's position or the predicted loss location at which the target will be lost.It also predicts the time at which the unmanned watercraft can capture the target or the predicted loss time at which the target will be lost.The capture loss prediction unit 2320 can predict a future capture loss in advance based on the analysis results of the target (suspicious ship 7000) determined by the target analysis and determination unit 2200 (particularly the target's dynamic performance, including the target's speed), the unmanned watercraft's movement speed and movement capability determined by the unmanned watercraft status determination unit 2310, and information on the unmanned watercraft's capture range.

[0076] The tracking status determination unit 2330 is a functional unit that determines the tracking status, which is the relative operating status of the unmanned watercraft 1000 that is tracking the target object (suspicious ship 7000). The tracking status of the unmanned watercraft 1000 determined by the tracking status determination unit 2330 will be described using Fig. 14 .

[0077] Fig. 14 is a state transition diagram showing the tracking state determined by the tracking state determination unit 2330. As shown in Fig. 14, the tracking state of the unmanned watercraft includes a tracking achieved state in which tracking is being performed, a loss-of-tracking indication state in which there are signs that the unmanned watercraft is about to lose track of the target due to the target's fleeing behavior, a loss-of-tracking occurrence state in which tracking has been lost due to the target's fleeing behavior, a capture-lost state in which the unmanned watercraft 1000 has lost track of the target (suspicious ship 7000), and a tracking-ended state in which tracking has ended.

[0078] The tracking status determination unit 2330 can determine whether the target object (suspicious ship 7000) is in one of the tracking states shown in Figure 14 based on the analysis results of the target object (suspicious ship 7000) determined by the target object analysis determination unit 2200 and the determination results regarding the unmanned boat by the unmanned boat status determination unit 2310.

[0079] For example, if the movement speed of the tracking unmanned vessel 1000 is slower than the movement speed of the target object, or if the relative distance between the tracking unmanned vessel and the target object increases over time, or if the movement distance of the tracking unmanned vessel is shorter than the movement distance of the target object, or if the remaining energy of the tracking unmanned vessel is less than the remaining energy of the target object, or if the movement performance of the unmanned vessel, including the maximum movement speed, etc., is lower than the predicted movement performance value, including the maximum movement speed, etc., of the target object, the tracking state determination unit 2330 can determine that the tracking state corresponds to a state of signs of loss of movement.

[0080] As another example, the tracking status determination unit 2330 may determine that the tracking status corresponds to a state indicating a breakaway based on the past movement history of the object (suspicious ship 7000) determined by the object analysis determination unit 2200 and the future predicted route of the object.

[0081] As another example, the tracking state determination unit 2330 can determine that a run-off state has occurred when the relative distance between the unmanned watercraft 1000 being tracked and the target object is equal to or greater than a predetermined distance.

[0082] When the tracking state determination unit 2330 determines that a run-off symptom state exists, it can perform a run-off prediction determination that predicts at least one of a predicted run-off position and a predicted run-off time at which the unmanned watercraft being tracked will be run off. As a method for performing this run-off prediction determination that predicts the predicted run-off position and predicted run-off time, for example, it can determine at least one of a predicted run-off position and a predicted run-off time at which the unmanned watercraft 1000 being tracked will be run off, based on status information about the unmanned watercraft 1000 being tracked, including at least one of the movement speed, movement direction, and position of the unmanned watercraft 1000, and status information about the target object, including at least one of the movement speed, movement direction, and position of the target object.

[0083] The path prediction state determination unit 2340 is a functional unit that determines the state of a prediction process that determines the predicted future path or predicted position at a future time of the object determined by the above-mentioned path prediction determination unit 2240. The path prediction state determined by the path prediction state determination unit 2340 will be described with reference to Fig. 15 .

[0084] Fig. 15 is a state transition diagram showing the prediction state of the path prediction determined by the path prediction state determination unit 2340. As shown in Fig. 15, the path prediction state includes the following states: path prediction normal, path prediction uncertain, path prediction abnormal, and tracking end.

[0085] The course prediction state determination unit 2340 can determine the validity of the prediction process for determining the future predicted course or predicted position at a future time of the object determined by the course prediction determination unit 2240, depending on the state of the object's navigation pattern shown in Figures 10, 11, and 12 determined by the above-mentioned navigation pattern determination unit 2250, and the state of the object's escape behavior status shown in Figure 13 determined by the behavior status determination unit 2260. In other words, it can determine the course prediction state shown in Figure 15.

[0086] For example, if the course trajectory status determined by the navigation pattern determination unit 2250 is "straight course navigation," it is highly likely that the vessel will proceed along the predicted course, and therefore the course prediction state can be determined to be "course prediction normal." Furthermore, if the course trajectory status determined by the navigation pattern determination unit 2250 is "normal turn," it is highly likely that the vessel will deviate from the predicted course, and therefore the course prediction state can be determined to be "course prediction uncertain." Furthermore, if the course trajectory status determined by the navigation pattern determination unit 2250 is "sharp course change," it is highly likely that the vessel will deviate from the predicted course, and therefore the course prediction state can be determined to be "course prediction abnormal." Here, an example has been described in which the course prediction state is determined according to the course trajectory status determined by the navigation pattern determination unit 2250, but the course prediction state may also be determined according to a determination result other than those mentioned above by the navigation pattern determination unit 2250 or the behavior status determination unit 2260, or another determination result by the object analysis determination unit 2200.

[0087] (A-1-5-4. Operation management unit 2400) The operation management unit 2400 is a functional unit that determines the content of operation commands to be issued to multiple unmanned watercrafts and issues the operation commands in accordance with the determination results regarding the object by the object analysis and determination unit 2200. The operation management unit 2400 includes an overall operation determination unit 2410, an operation allocation determination unit 2420, a tracking operation determination unit 2430, a tracking break-off response action determination unit 2440, a surrounding operation determination unit 2450, a proactive operation determination unit 2460, and an operation command confirmation unit 2470.

[0088] The overall operation determination unit 2410 is a functional unit that determines an overall operation command for one or more platoons 1010 made up of multiple unmanned crafts 1000. A method for determining an overall operation command will be described below with reference to FIG.

[0089] 16 is a state transition diagram showing the states of overall operation commands determined by the overall operation determination unit 2410. As shown in FIG. 16, the overall operation commands determined by the overall operation determination unit 2410 include "tracking" to perform tracking, "taking over tracking" to track the target while performing takeover by multiple unmanned watercraft, "advancing" to advance unmanned watercraft to the target's destination, "surrounding" to surround the target with multiple unmanned watercraft, "abandon tracking" to abandon tracking, "request external takeover" to request an external system to take over, "action just before loss" to perform an action just before losing the target's position, and "end tracking" to end tracking. Note that the advancing and surrounding operation commands may cause some unmanned watercraft to track the target.

[0090] The overall operation determination unit 2410 can determine an overall operation command from the multiple operation command candidates shown in FIG. 16 according to the determination content regarding the object determined by the object analysis and determination unit 2200.

[0091] For example, if the type of object determined by the object analysis and determination unit 2200 corresponds to a predetermined type (a type of ship that should be surrounded, such as a trespassing ship or a poaching ship), or if the current movement speed of the object is below a predetermined value, or if the alert level of the object determined by the type determination unit 2210 is relatively low, the overall operation determination unit 2410 can determine that the overall operation command is to "surround" the unmanned boats so that the object is inside a formation of multiple unmanned boats.

[0092] As an example of a method for determining the overall operation depending on the alert level of the object determined by the type determination unit 2210, when the alert level of the object determined by the type determination unit 2210 is relatively high, "track" may be determined as the overall operation, and when the alert level drops to a relatively low alert level, the overall operation may be changed from "track" to only "surround." As another example, when the alert level drops to a relatively low level, the overall operation may be changed to "anticipate," and the unmanned watercraft may be caused to advance to a position ahead of the predicted movement path of the object.

[0093] As another example of a method for determining overall operations according to the alert level of the object determined by the type determination unit 2210, the formation and positioning of the unmanned boats 1000 within the platoon may be switched according to the alert level of the object determined by the type determination unit 2210.

[0094] Furthermore, as described above, the operation management unit 2400 can determine the content of operation commands to multiple unmanned boats and issue operation commands based not only on the judgment results regarding the object by the object analysis and judgment unit 2200, but also on the judgment results by the system state judgment unit 2300, that is, the current or future state of the unmanned boat 1000 or the current or future relative operating state of the unmanned boat 1000 and the object (suspicious boat 7000).

[0095] In addition, the operation management unit 2400 can determine the content of operation commands to multiple unmanned boats and issue the operation commands based on both the judgment results regarding the object by the object analysis and judgment unit 2200 and the judgment results by the system state judgment unit 2300.

[0096] The action allocation determination unit 2420 is a functional unit that determines the allocation of action roles to each of the multiple unmanned watercraft 1000. The action role allocation command determined by the action allocation determination unit 2420 is output to the unmanned watercraft 1000 by the action command unit 2600, which will be described later.

[0097] The operation roles assigned to multiple unmanned vessels by the operation allocation determination unit 2420 include at least one of the following roles: a role of tracking an object, a role of taking over tracking of an object, a role of anticipating the object's destination, a role of surrounding the object, a role of relaying communications between multiple unmanned vessels, a role of accumulating measurement data, and a role of performing analytical processing of measurement data.

[0098] Here, the operation allocation determination unit 2420 may determine the number of unmanned watercraft to be assigned to each operation (tracking, tracking takeover, encirclement, and preemption) according to, for example, the type of object or the alert level determined by the type determination unit 2210. Alternatively, the formation of multiple platoons within a company made up of multiple platoons 1010 may be modified according to the type of object or the alert level determined by the type determination unit 2210. In other words, by assigning the above operation roles to more unmanned watercraft for objects with a relatively high alert level, and conversely, assigning the above operation roles to fewer unmanned watercraft for objects with a relatively low alert level, the amount of activity of the unmanned watercraft can be controlled according to the alert level, and energy and watercraft can be assigned to roles with a higher alert level.

[0099] The tracking operation determination unit 2430 has the function of determining an operation command that instructs the detailed operation of the unmanned craft 1000 to which the tracking operation has been assigned by the operation allocation determination unit 2420 when the overall operation command is determined to be "tracking" by the overall operation determination unit 2410.

[0100] When the tracking state determined by the tracking state determination unit 2330 is determined to be a runout symptom state, a runout occurrence state, or a position capture lost state, and the operation allocation determination unit 2420 determines that the role of taking over the tracking operation should be assigned to another unmanned vessel 1000 different from the unmanned vessel 1000 performing the tracking, the tracking operation determination unit 2430 determines at least one of an operation command to move the unmanned vessel 1000 assigned to take over the tracking operation to the predicted runout position, or an operation command to move the unmanned vessel 1000 to the predicted runout position by the predicted runout time.

[0101] The tracking operation determination unit 2430 may have a function to determine an operation command for a tracking formation of multiple unmanned watercraft 1000 when the overall operation determination unit 2410 determines the overall operation command to be "tracking." Below, a method for determining an operation command for a tracking formation will be explained using FIG. 17 .

[0102] 17 is a state transition diagram showing the states of tracking formation commands determined by the tracking operation determination unit 2430. As shown in Fig. 17, the tracking formation commands determined by the tracking operation determination unit 2430 include operation commands such as "simple tracking arrangement" for tracking the object from behind the direction of travel, "left and right tracking arrangement" for tracking the object from two directions, left and right, with respect to the direction of travel, "left and right rear tracking arrangement" for tracking the object from three directions, left and right and rear, with respect to the direction of travel, "left and right front and rear tracking arrangement" for tracking the object from four directions, front and rear, left and right, with respect to the direction of travel, "tracking with predicted path ahead obstructing the path" for tracking the object from ahead of the direction of travel, "abandon tracking" for abandoning tracking, and "end tracking" to end tracking.

[0103] For example, the tracking operation determination unit 2430 can determine a tracking formation command according to the type or alert level of the object determined by the type determination unit 2210. For example, a "left / right / front / back tracking arrangement" in which more unmanned vessels track an object with a relatively high alert level can be used, and conversely, a "simple tracking arrangement" in which fewer unmanned vessels track an object with a relatively low alert level can be used. Furthermore, the tracking operation determination unit 2430 can determine a tracking formation command according to the state of the object determined by the navigation pattern determination unit 2250 or the action status determination unit 2260, and if the determined state of the object changes, the tracking formation command can be changed according to the changed state of the object.

[0104] The tracking operation determination unit 2430 may have a function of determining an operation command related to relative distance control between the multiple unmanned watercraft 1000 or between the unmanned watercraft 1000 and an object when the overall operation determination unit 2410 determines the overall operation command to be "tracking." A method of determining an operation command related to relative distance control will be described below with reference to FIG. 18 .

[0105] Figure 18 is a state transition diagram showing the states of relative distance control commands determined by the tracking operation determination unit 2430. As shown in Figure 18, the relative distance control commands determined by the tracking operation determination unit 2430 include operation commands for preventing collision between multiple unmanned watercraft 1000 performing tracking operations on an object, operation commands for preventing collision between the unmanned watercraft being tracked and the object, operation commands for shortening the distance between the unmanned watercraft being tracked and the object, operation commands for lengthening the distance between the unmanned watercraft being tracked and the object, tracking, and operation commands for ending tracking.

[0106] In addition, the tracking operation determination unit 2430 can determine a relative distance control command according to the state of the object determined by the navigation pattern determination unit 2250 or the behavior status determination unit 2260, and further, if the determined state of the object changes, can change the relative distance control command according to the state of the object after the change.

[0107] Here, if the relative distance between the unmanned vessels 1000 is too close and there is a possibility of collision, position control is required to increase the relative distance with high priority and avoid collision, so the state transitions to an operation command state for collision prevention operation between the unmanned vessels 1000. Also, if the relative distance between the unmanned vessel 1000 and an object is too close and there is a possibility of collision, position control is required to increase the relative distance with high priority and avoid collision, so the state transitions to an operation command state for collision prevention operation for the object. The relative distance control shown in FIG. 18 is controlled so that the relative distance between the unmanned vessels 1000 communicating with each other within the platoon 1010 does not exceed the communication distance. Therefore, if the relative distance between the unmanned vessel 1000 being tracked and the other unmanned vessel 1000 it is communicating with increases and approaches the upper limit of the communication distance, the status of the relative distance control transitions to tracking end, and the position of the unmanned vessel 1000 is controlled to maintain the unmanned vessel 1000 within the communication distance.

[0108] The tracking break-off response action determination unit 2440 has a function of determining a just-before-shaking-off action to be taken just before the unmanned watercraft 1000 breaks off from tracking. The tracking break-off response action determination unit 2440 can determine, for example, a paint attachment action by spraying or throwing paint at the target object to cause the paint to adhere to the target, or a transmitter attachment action by spraying or throwing a transmitter or the like at the target to cause the transmitter or the like to adhere to the target, as the just-before-shaking-off action. Furthermore, the tracking break-off response action determination unit 2440 can determine to execute the just-before-shaking-off action described above when, for example, the tracking state determined by the tracking state determination unit 2330 is a state indicating a break-off.

[0109] In addition, when the tracking state determined by the tracking state determination unit 2330 is determined to correspond to a loss-of-tracking symptom state, a loss-of-tracking occurrence state, or a position capture lost state, the tracking loss-of-tracking response action determination unit 2440 can determine whether or not to assign the role of taking over the tracking operation to another unmanned vessel 1000 different from the unmanned vessel 1000 performing the tracking.

[0110] In addition, when it is determined that the role of taking over the tracking operation should be assigned to an unmanned vessel 1000 other than the unmanned vessel 1000 performing the tracking, the tracking separation response action determination unit 2440 can select an unmanned vessel to which the role of taking over the tracking operation of the target object should be assigned.

[0111] In addition, when the tracking state determined by the tracking state determination unit 2330 corresponds to a loss-of-track state or a position capture lost state, the tracking loss-of-track response action determination unit 2440 can optimally assign operational roles to the unmanned vessel 1000 that has entered the loss-of-track state or the position capture lost state, or to the unmanned vessel 1000 that has completed roles such as communication relay, measurement data accumulation, and measurement data analysis processing, including at least one of the role of taking over tracking of the target, the role of anticipating the target's destination, the role of surrounding the target, the role of communicating between multiple unmanned vessels, the role of accumulating measurement data, and the role of analyzing measurement data.

[0112] In addition, as an example, when the tracking status determination unit 2330 determines that the unmanned boat 1000 has lost track of the target object, or when the tracking loss prediction unit 2320 determines that a tracking loss will occur in the future, the tracking loss response action determination unit 2440 decides to transmit and output information including at least one of the current tracking loss occurrence information, predicted future tracking loss occurrence information, predicted loss position, predicted loss time, and information about the target object, as determined by the tracking status determination unit 2330 or the tracking loss prediction unit 2320, to the cooperative system 5000, the external system 6000, or other external systems via the information communication unit 2700.

[0113] The surrounding operation determination unit 2450 is a functional unit that, when the overall operation determination unit 2410 determines an operation command for "surrounding," determines the content of a control operation for moving the unmanned watercraft 1000 so that the target object is inside the formation of multiple unmanned watercraft 1000. For example, the surrounding operation determination unit 2450 calculates a movement target position for surrounding an unmanned watercraft 1000 that has been assigned the operation role of surrounding by the operation allocation determination unit 2420, and determines a surrounding movement command to that position. The surrounding movement command may also include a movement target time.

[0114] The encirclement operation determination unit 2450 can, for example, determine an encirclement operation command to move the entire platoon 1010 consisting of multiple unmanned boats 1000 so that the position of the target object is inside the area in which the multiple unmanned boats 1000 are deployed, or so that the position approaches the central position of the area in which the unmanned boats 1000 are deployed, without changing the formation of the multiple unmanned boats 1000.

[0115] As another example, the encirclement operation determination unit 2450 can determine an encirclement operation command to move the unmanned watercraft 1000 so that the target object is inside the formation of the multiple unmanned watercraft 1000 by changing the formation so that the target object is surrounded by the multiple unmanned watercraft 1000. A specific example of control of the platoon 1010 by the encirclement operation determination unit 2450 will be described later.

[0116] When the overall operation decision unit 2410 decides on an "advance" operation designation to have the unmanned boat advance to the destination of the target object, the advance operation decision unit 2460 calculates the predicted destination of the target object or its surrounding area as an advance target position for at least some of the multiple unmanned boats 1000 that make up the platoon 1010, and further calculates the target time for moving to the advance target position, and decides on an operation command including these target positions and target times.

[0117] As a method of determining the advance area that will be the movement target of the advance operation command, for example, the advance operation determination unit 2460 can determine, based on the past movement trajectory of the object, the current traveling direction of the object, the current heading direction of the object, the predicted future path of the object, and the predicted position of the object at a future time determined by the object analysis and determination unit 2200, at least one of the following positions or areas: an extension of the object's past movement trajectory or the surrounding area on that extension, an area ahead of the object's current traveling direction or the surrounding area, an area ahead of the object's current heading direction or the surrounding area, an area on the object's future predicted path or the surrounding area on the predicted path, a predicted position of the object at a future time or the surrounding area of ​​the predicted position, as the target position or area for advancement.

[0118] It should be noted that the proactive operation determination unit 2460 determines the target position or area for proactive operation by the above-described method when, for example, the tracking state determined by the tracking state determination unit 2330 is a swing-out symptom state or a swing-out occurrence state.

[0119] The operation command determination unit 2470 is a functional unit that determines an operation command based on information on the operation command candidates generated by each determination unit of the operation management unit 2400 described above and user input information acquired from the user interface unit 2500 described below. Alternatively, it is a functional unit that determines an operation command based on information on the operation command candidates generated by each determination unit of the operation management unit 2400 described above and external user input information received from the collaborative system 5000 acquired by the external user input information acquisition unit 2414.

[0120] For example, when there is no input of user input information or external user input information, the operation command determination unit 2470 determines the operation command candidate generated by each determination unit of the operation management unit 2400 as the operation command, and when there is input of user input information or external user input information, it can determine the operation command based on both the operation command candidate generated by each determination unit of the operation management unit 2400 and the user input information or the external user input information, or can determine the operation command based only on the user input information or the external user input information.

[0121] (A-1-5-5. User interface unit 2500) The user interface unit 2500 is a functional unit that displays and outputs each operation command determined by the operation management unit 2400, each piece of information related to the object determined by the object analysis and determination unit 2200, and each piece of information determined by the system state determination unit 2300, and receives user input information regarding the displayed operation information and other information from the user. The user interface unit 2500 includes a display unit 2510 and a user input receiving unit 2520.

[0122] The display unit 2510 is a functional unit that displays and outputs each operation command determined by the operation management unit 2400, each piece of information regarding the object determined by the object analysis and determination unit 2200, and each piece of information determined by the system state determination unit 2300.

[0123] The display unit 2510 may also display various information related to the object, such as the type of object, movement performance, past movement path, current position, predicted position at a future time (which may include the location and time of landing on the coast), and other information determined by the object analysis and determination unit 2200. The display unit 2510 may also display the past movement path, current position, predicted position at a future time of the unmanned watercraft determined by the unmanned watercraft status determination unit 2310, as well as the operation role assigned to each unmanned watercraft (tracking, takeover tracking, advance, encirclement, etc.), the planned position and planned time of handover, etc., determined by the operation management unit 2400.

[0124] In addition, when the information communication unit 2700 described below transmits information regarding captured lost or information regarding the target object to the cooperative system 5000, the external system 6000, or other external systems, information such as the contact details, contact method, and location of the external destination may be displayed on the display unit 2510.

[0125] Furthermore, when the path prediction determination unit 2240 of the object analysis and determination unit 2200 determines multiple path candidates as the predicted path of the object, the probability of each predicted path may also be displayed on the nautical chart. Note that the user can select and input one path candidate from the multiple path candidates via the user input receiving unit 2520, which will be described later.

[0126] The user input accepting unit 2520 is a functional unit that accepts user input for each piece of information displayed by the display unit 2510, particularly for candidate action commands. The user input information can include a selection input for selecting an arbitrary action command from a plurality of candidate action commands, an approval input for approving a candidate action command, a correction request input for correcting part of the candidate action command, or an intervention action command input for instructing the execution of an intervention action different from the candidate action command. The above-mentioned user input information can also be accepted via an operation button provided on the display screen of the display unit 2510.

[0127] The user input accepting unit 2520 may also have a function to accept a display request for measurement data acquired by the unmanned watercraft 1000. In this case, a function to accept a priority request for displaying measurement data in a prioritized manner, such as time-priority display, which prioritizes displaying measurement data that can be displayed early, detailed image-priority display, which prioritizes displaying detailed measurement data, or area-designated-priority display, which prioritizes displaying measurement data in an area designated by the user, may be provided. When the above-mentioned measurement data display request is accepted, the display unit 2510 may display a predicted display time for which the measurement data can be displayed. When the above-mentioned measurement data display request is accepted, the display unit 2510 may display a predicted display time for the measurement data according to the designated display priority.

[0128] Furthermore, the user input accepting unit 2520 can accept from the user a display mode that includes displaying the latest measurement data or displaying past measurement data measured at a specified past time when displaying measurement data on the display unit 2510. Furthermore, when the unmanned watercraft 1000 acquires the latest measurement data, the display unit 2510 or the like may notify the user that the latest measurement data has been updated.

[0129] (A-1-5-6. Operation command unit 2600) The operation command unit 2600 is a functional unit that transmits and outputs the operation command determined by the operation command determination unit 2470 described above to the unmanned boat 1000 via the communication satellite 3000, the aircraft, or the terrestrial base station 4000.

[0130] (A-1-5-7. Information communication unit 2700) The information communication unit 2700 is a functional unit that outputs each piece of information, such as the determination result regarding the object by the object analysis and determination unit 2200, the determination result by the system state determination unit 2300, or the operation command generated by the operation management unit 2400, to the cooperative system 5000, the external system 6000, or other external systems. Furthermore, the information communication unit 2700 can transmit and output information including at least any of current capture loss occurrence information, predicted future capture loss occurrence information, predicted loss position, predicted loss time, and information regarding the object, determined by the tracking state determination unit 2330 or the capture loss prediction unit 2320, to the cooperative system 5000, the external system 6000, or other external systems, in accordance with the command determined by the tracking loss response action determination unit 2440.

[0131] The functions implemented in the unmanned watercraft 1000 and the overall control system 2000 described above using Figures 6, 7, and 9 are merely one embodiment, and the present invention is not limited to this implementation example. In other words, some of the functions implemented in the unmanned watercraft 1000 shown in Figures 6 and 7 (mainly the function of the determination unit 1500) can be implemented in the overall control system 2000. On the other hand, some of the functions implemented in the overall control system 2000 shown in Figure 9 (mainly at least one of the information import unit 2100, object analysis and determination unit 2200, system state determination unit 2300, operation management unit 2400, and operation command unit 2600) can also be implemented in the unmanned watercraft 1000.

[0132] (A-1-6. Hardware Configuration) Fig. 19 is a hardware configuration diagram of an overall control system 2000. Here, the overall control system 2000 in the present invention is an information processing device such as a server device or a PC. As shown in the figure, the overall control system 2000 has an input device 100, an output device 200, a processing device 300, a main memory device 400, an auxiliary memory device 500, a communication device 600, and a bus 700 that electrically connects these devices.

[0133] The input device 100 can constitute the user input receiving unit 2520 of the user interface unit 2500, and is a device that allows a user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, a keyboard, a mouse, or an audio input device such as a microphone.

[0134] The output device 200 is a device that outputs various types of information generated by the integrated control system 2000, and can constitute the display unit 2510 of the user interface unit 2500. Specifically, the output device 200 can constitute the display unit 2510 using a display device for eyewear, AR, or VR, or it may also be a printer or a speaker.

[0135] The processing device 300 is, for example, a device that performs arithmetic processing. Specifically, the processing device 300 is, for example, a CPU, a microprocessor, a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), or other semiconductor devices capable of performing calculations.

[0136] The main storage device 400 is a memory device such as a RAM that temporarily stores various read information and a ROM that stores programs, application programs, and other various information executed by the processing device 300. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a flash memory that can store digital information.

[0137] The communication device 600 is a device that performs wireless or wired information communication with the outside, and can constitute the information communication unit 2700 described above.

[0138] (A-1-7. Control Flow of Control System 1) Next, we will explain the overall control flow of the control system 1. Figure 20 is a flowchart showing the processing flow of the control system 1.

[0139] First, the information import unit 2100 acquires information from the external system 6000 (step 101).

[0140] Next, the determination unit 1500 of the unmanned watercraft 1000 performs an object detection process (step 102).

[0141] Next, the object analysis and determination unit 2200 analyzes the object based on the detection information and measurement data of the object, and determines at least one of the object's type, operating state, and dynamic performance (step 103). Details of this step will be described later.

[0142] Next, the system state determination unit 2300 determines the current or future state of the unmanned watercraft 1000, or the current or future relative operating state of the unmanned watercraft 1000 and the target (suspicious vessel 7000) (step 104). Details of this step will be described later.

[0143] Next, the operation management unit 2400 determines the contents of the operation commands to be sent to the plurality of unmanned watercraft (step 105). Details of this step will be described later.

[0144] Next, the user interface unit 2500 displays candidate information for operation commands and the like, and accepts user input information for the displayed operation information and other information (step 106).

[0145] Next, the operation command unit 2600 transmits an operation command to the unmanned watercraft 1000, causing the unmanned watercraft 1000 to perform an operation (step 107).

[0146] (A-1-8. Control Sequence Within Control System 1) Next, a description will be given of the control sequence between the systems within the control system 1. FIG.

[0147] First, AIS information and satellite-related information are transmitted from the external system 6000 to the integrated control system 2000.

[0148] Next, measurement data is transmitted from the slave unit 1002 constituting the unmanned watercraft 1000 to the master unit 1001, and when the initial detection unit 1511 of the master unit 1001 detects an object, a detailed measurement command is transmitted from the master unit 1001 to the slave unit 1002. The slave unit 1002 performs detailed measurement in accordance with the detailed measurement command and transmits the detailed measurement data to the master unit 1001.

[0149] Next, if the object suitability determination unit 1514 of the parent unit 1001 determines that the detected object is an object to be monitored, the measurement data measured by the child unit 1002 and information on the detailed detection results determined by the determination unit 1500 of the parent unit 1001 are transmitted to the overall control system 2000.

[0150] Next, the overall control system 2000 analyzes and judges the object, judges the system status, generates candidates for operation commands for the unmanned boat, and transmits the judgment information and operation commands to the cooperative system 5000.

[0151] Next, the overall control system 2000 accepts external user input information from the collaborative system 5000, determines an operation command based on the external user input information and the operation command generated within the overall control system 2000, and transmits the determined operation command (such as a tracking command) to the parent unit 1001.

[0152] Next, the parent device 1001 that has received the operation command executes the commanded operation for itself contained in the operation command, and also transmits operation commands (such as a tracking command) to other child devices 1002 in the same platoon 1010 .

[0153] Next, the slave device 1002 executes the command action for itself included in the operation command (such as a tracking command). Furthermore, when the slave device tracks an object, it transmits measurement data acquired during the tracking process to the master device 1001.

[0154] The parent device 1001 detects and analyzes the object based on the measurement data received from the child device 1002 , and transmits the measurement data and the detection and analysis results to the integrated control system 2000 .

[0155] Based on the measurement data and detection analysis results received from the parent unit 1001, the overall control system 2000 analyzes and judges the object, judges the system status, and generates candidates for operation commands for the unmanned boat, and transmits the judgment information and operation commands to the collaborative system 5000.

[0156] Next, the overall control system 2000 accepts external user input information from the collaborative system 5000, determines an operation command based on the external user input information and the operation command generated within the overall control system 2000, and transmits the determined operation command (such as an operation after swing-off) to the parent unit 1001.

[0157] Next, the parent device 1001 that has received the operation command executes the commanded operation for its own device contained in the operation command, and also transmits operation commands (such as post-swing-off operation) to other child devices 1002 in the same platoon 1010.

[0158] (A-1-9. Object Analysis Processing) Next, the object analysis and determination processing will be described with reference to Fig. 22. Fig. 22 is a flowchart showing the processing flow of the object analysis and determination processing executed by the object analysis and determination unit 2200. Fig. 22 particularly shows the detailed processing flow of step 103 shown in Fig. 20.

[0159] First, the type of the object is determined by the type determination unit 2210 (step 201). In this step, the type determination unit 2210 determines the type of the object, including, for example, a cargo ship, a liner, a passenger ship, a fishing boat, a pleasure boat, a yacht, a boat, a water scooter, a diver, and a marine organism (such as a whale, a dolphin, or a school of fish).

[0160] Next, the motion state determination unit 2220 determines the dynamic state of the object (step 202). In this step, for example, at least one of the past movement trajectory, current heading direction, current movement speed, current acceleration, current deceleration, current position coordinates, turning radius, and turning speed of the object is determined.

[0161] Next, the performance determination unit 2230 determines the movement performance of the object (step 203). In this step, for example, if the object is a suspicious ship, at least one of the maximum movement speed, minimum turning radius, maximum turning speed, maximum acceleration, maximum deceleration, and possible movement distance is determined.

[0162] Next, the path prediction determination unit 2240 predicts and determines the future path of the object (step 204). In this step, for example, at least one of the predicted future path of the object, the predicted position at a future time, the predicted speed at a future time, and the predicted direction of travel at a future time is determined.

[0163] Next, the navigation pattern of the target is determined by the navigation pattern determination unit 2250 (step 205). In this step, the navigation pattern of the target is determined, for example, as the status of the speed and acceleration / deceleration pattern of the suspicious ship as shown in Fig. 10, the status of the navigation path of the suspicious ship as shown in Fig. 11, or the status of the tracking and disruptive navigation of the suspicious ship as shown in Fig. 12.

[0164] Next, the behavior status determination unit 2260 determines the escape behavior state of the target (step 206). In this step, for example, the escape behavior status of the target as shown in FIG.

[0165] (A-1-10. Determining the operating state of the system) Next, the process of determining the current or future state of the unmanned vessel 1000, or the current or future relative operating state of the unmanned vessel 1000 and the target (suspicious vessel 7000), will be described using Figure 23. Figure 23 is a flowchart showing the process flow for determining the state or relative operating state of the unmanned vessel 1000, which is executed by the system state determination unit 2300. Figure 23 particularly shows the detailed processing flow of step 104 shown in Figure 20.

[0166] First, the unmanned vessel status determination unit 2310 determines the status of the unmanned vessel 1000 (step 301). In this step, for example, the location of the multiple unmanned vessels, the number of vessels, the direction of movement, the speed of movement, the possible distance to be traveled, the remaining energy, and at least one of the estimated values ​​of the mobility capability of the unmanned vessel, including the speed of movement or the possible distance to be traveled, in the external environment such as the waves, wind, and currents in the area in which the unmanned vessel is operating.

[0167] Next, the capture loss prediction unit 2320 determines the state of future loss of capture of the target object (step 302). In this step, for example, at least one of the following is predicted: whether or not a capture loss will occur in the future, in which the target object will be lost, the area in which the target object can be captured by the unmanned watercraft 1000, the predicted loss position where the target object will be lost, the time when the target object can be captured by the unmanned watercraft, and the predicted loss time where the target object will be lost is predicted.

[0168] Next, the tracking state determination unit 2330 determines the tracking state, which is the relative motion state of the unmanned watercraft 1000 being tracked (step 303). In this step, for example, a tracking state such as that shown in FIG.

[0169] Next, the predicted state of the future predicted path of the object is determined by the path prediction state determination unit 2340 (step 304). In this step, for example, the path prediction state shown in FIG.

[0170] (A-1-11. Operation Command Determination Processing) Next, the operation command determination processing for the multiple unmanned watercraft 1000 will be described using Figure 24. Figure 24 is a flowchart showing the processing flow for determining operation commands for the unmanned watercraft 1000, which are determined by the operation management unit 2400. Figure 24 particularly shows the detailed processing flow of step 105 shown in Figure 20.

[0171] First, the overall operation determination unit 2410 determines an overall high-level operation command for one or more platoons 1010 made up of a plurality of unmanned crafts 1000 (step 401).

[0172] Next, a process step to transition to is determined depending on whether the operation command determined in step 401 is to abandon tracking or not (step 402). In this step, if the determined operation command is to abandon tracking, the process transitions to step 403, and on the other hand, if the determined operation command is not to abandon tracking, the process transitions to step 404.

[0173] Next, if the overall higher-level action command is to abandon pursuit, the action to be taken immediately before capture is determined as the action command by the action determination unit immediately before shake-off of pursuit (step 403). In this step, the action to be taken immediately before shake-off is determined to be paint adhesion, which involves spraying or throwing paint at the target to cause the paint to adhere to the target, or transmitter attachment, which involves spraying or throwing a transmitter or the like at the target to cause the transmitter or the like to adhere to the target.

[0174] In addition, in step 403, instead of or in addition to the action immediately before tracking is cut off, the information communication unit 2700 may perform an operation to output information including at least one of information on the current occurrence of capture loss, information on predicted occurrence of future capture loss, predicted loss position, predicted loss time, and information on the target object to the cooperative system 5000, the external system 6000, or other external system.

[0175] Next, if the overall higher-level operation command is not to abandon tracking, the process step to transition to is determined depending on whether the overall higher-level operation command is to track or to take over tracking (step 404). In this step, if the overall higher-level operation command is to track or to take over tracking, the process transitions to step 405, whereas if the overall higher-level operation command is not to track or to take over tracking, the process transitions to step 411.

[0176] Next, if the overall higher-level operation command is tracking or tracking takeover, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to be assigned the lead or sub-role in the tracking operation (step 405). Here, the sub-role in the tracking operation refers to the role of tracking the target by following the unmanned watercraft 1000 in the lead role that performs the tracking operation.

[0177] Next, the operation allocation determination unit 2420 determines which unmanned watercraft 1000 should be assigned a role other than tracking (step 406).

[0178] Next, the tracking operation determination unit 2430 determines the detailed operation for the unmanned watercraft 1000 assigned the tracking role (step 407).

[0179] Next, the tracking operation determination unit 2430 determines a tracking formation of the multiple unmanned watercraft 1000 (step 408). In this step, for example, a tracking formation command status such as that shown in FIG.

[0180] Next, the tracking operation determination unit 2430 determines an operation command for controlling the relative distance between the plurality of unmanned watercraft 1000 and the target object (step 409). In this step, for example, a relative distance control command status such as that shown in Fig. 18 is determined.

[0181] Next, the tracking loss response action determination unit 2440 determines a response action to be taken for the unmanned watercraft 1000 that has entered a loss symptom state, a loss occurrence state, or a position capture lost state (step 410). This step will be described in detail later.

[0182] Next, if the overall higher-level operation command is not tracking or tracking inheritance, the process step to transition to is determined depending on whether the overall higher-level operation command is (1) encirclement or (2) proactive (step 411). In this step, if the overall higher-level operation command is (1) encirclement, the process transitions to step 412, whereas if the overall higher-level operation command is (2) proactive, the process transitions to step 415.

[0183] Next, if the overall higher-level action command is (1) encirclement, the action allocation determination unit 2420 determines the unmanned watercraft 1000 to be assigned the role of performing the encirclement action (step 412).

[0184] Next, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to which a role other than encirclement is to be assigned (step 413).

[0185] Next, the surrounding operation determination unit 2450 determines the detailed operation of the unmanned watercraft 1000 to perform the surrounding operation (step 414).

[0186] Next, if the overall higher-level operation command is (2) proactive, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to be assigned the role of performing proactive operation (step 415).

[0187] Next, the operation allocation determination unit 2420 determines the unmanned watercraft 1000 to which a role other than the advance role is to be assigned (step 416).

[0188] Next, the proactive operation determination unit 2460 determines the detailed operation of the unmanned watercraft 1000 that will execute the proactive operation (step 417).

[0189] (A-1-12. Operation Command Determination Process) Next, the process of determining an operation command for the unmanned watercraft 1000 that is in a run-off symptom state, a run-off occurrence state, or a position capture lost state will be described using Figure 25. Figure 25 is a flowchart showing the process flow for determining an operation command for the unmanned watercraft 1000 when run-off occurs, etc., executed by the tracking run-off response action determination unit 2440. Figure 25 particularly shows a detailed processing flow of step 410 shown in Figure 24. Figure 25 shows an example of selecting each operation of tracking takeover, proactive tracking, and requesting takeover to an external device, but the selection and determination of each operation may be performed using other methods.

[0190] First, a process step to be transitioned is determined depending on whether or not a swing-out symptom state has been determined (step 501). In this step, if a swing-out symptom state has been determined, the process transitions to step 502, whereas if a swing-out symptom state has not been determined, the process of this flowchart ends.

[0191] Next, if a shake-off symptom state is determined in step 501, a pre-shake-off action to be taken immediately before the unmanned watercraft 1000 is shaken off is determined (step 502).

[0192] Next, the processing step to transition to is determined based on the result of the determination of whether or not there is another unmanned watercraft 1000 that can take over tracking of the abandoned object (step 503). In this step, if there is another unmanned watercraft 1000 that can take over, the processing transitions to step 504, and if there is no other unmanned watercraft 1000 that can take over, the processing transitions to processing step 505.

[0193] Next, if it is determined in step 503 that there is another unmanned watercraft 1000 that can take over, the unmanned watercraft 1000 that will take over is selected, and the location and time at which the takeover will be performed are determined (step 504). After this step is performed, the process proceeds to step 507.

[0194] Next, if it is determined in step 503 that there are no other unmanned watercraft 1000 that can take over, the process step to transition to is determined based on the result of the determination of whether there are other unmanned watercraft 1000 that can get ahead of the abandoned object (step 505). In this step, if there are other unmanned watercraft 1000 that can get ahead, the process transitions to step 506, and if there are no other unmanned watercraft 1000 that can get ahead, the process transitions to step 508.

[0195] Next, in step 505, if it is determined that there is another unmanned vessel 1000 that can proceed ahead, the unmanned vessel 1000 that will proceed ahead is selected, and the target position and target time for the proceeding are determined (step 506).

[0196] Next, operational roles are reassigned to unmanned watercraft 1000 that have completed their roles, such as an unmanned watercraft 1000 that has been abandoned by the target (step 507). In this step, operational roles can be reassigned to unmanned watercraft 1000 that have completed their roles, including at least one of the following: taking over the tracking of the target, moving ahead to the target's destination, surrounding the target, relaying communications between multiple unmanned watercraft, storing measurement data, and analyzing the measurement data. Furthermore, the unmanned watercraft 1000 that has been reassigned the role of taking over the tracking is instructed to move to the target position by the target time for handover.

[0197] Next, if it is determined in step 505 that there are no other unmanned craft 1000 that can get ahead, a request is made to the cooperative system 5000, the external system 6000, or another external system to take over tracking (step 508). In this step, information including at least one of the following may be transmitted in addition to the request for takeover: current capture / loss occurrence information, predicted capture / loss occurrence information in the future, predicted loss position, predicted loss time, and information about the target object.

[0198] (A-1-13. Configuration of the Platoon 1010) The following describes the platoon 1010 made up of a plurality of unmanned crafts 1000, using Figures 26 and 27. Figure 26 is a diagram showing the relative positions and communication connections of the plurality of unmanned crafts 1000 in the platoon 1010.

[0199] In the example shown in FIG. 26 , a platoon 1010 includes one parent device 1001 and multiple child devices 1002. The parent device 1001 and the multiple child devices 1002 are connected via wireless communication, as indicated by solid lines, to form a communication network. The child devices 1002 include a primary-connected child device 10021 that is communicatively connected to the parent device 1001 and a secondary-connected child device 10022 that is communicatively connected to the primary-connected child device 10021. Note that the present invention does not limit the number of child devices that are relayed, and the device may include a tertiary-connected child device, a quaternary-connected child device, and so on. The primary-connected child device 10021 shown in FIG. 26 has the function of relaying information transmission and reception between the parent device 1001 and the secondary-connected child devices 10022, thereby enabling information to be exchanged between the parent device 1001 and the multiple secondary-connected child devices 10022.

[0200] Furthermore, the number of secondary connection slave devices 10022 communicatively connected to a primary connection slave device 10021 is not limited to one, and multiple secondary connection slave devices 10022 communicatively connected to a primary connection slave device 10021 can form a tree-structured communication network of multiple unmanned watercraft 1000 within the platoon 1010. Furthermore, because there is an upper limit to the communication distance between each unmanned watercraft 1000, the positions of at least one of the unmanned watercraft 1000 communicatively connected to each other, for example, the master device 1001 and the primary connection slave device 10021, and the primary connection slave device 10021 and the secondary connection slave device 10022, are controlled with high priority so that the relative distance between the unmanned watercraft 1000 is maintained within the communication distance (for example, approximately 1.5 km).

[0201] On the other hand, the relative distance between other unmanned watercraft 1000 that are not connected to each other does not need to be maintained as described above, but considering the purpose of the platoon, which is to monitor and investigate objects, it is desirable for the unmanned watercraft 1000 to be deployed over a wider area without getting too close to each other, so the position of at least one of the unmanned watercraft 1000 that are not connected to each other is controlled with a relatively low priority so as to maintain a preset steady-state relative distance (for example, approximately 1 km). Control based on the Boids algorithm, for example, can be used to maintain this steady-state relative distance.

[0202] As described above, the relative distance between unmanned watercraft 1000 that are communicatively connected to each other is controlled with a high priority to within the communicable distance range, and the relative distance between unmanned watercraft 1000 that are not communicatively connected to each other is controlled with a relatively low priority so that the relative distance is maintained under normal conditions. Therefore, when an unmanned watercraft 1000 is commanded to track (or surround, anticipate, or take over tracking) an object, the unmanned watercraft 1000 performing the tracking or other operation controls its position by prioritizing the operation of tracking the object over maintaining the relative distance from other unmanned watercraft 1000 that are not communicatively connected to each other. On the other hand, even when an operation command such as tracking an object is executed, maintaining the relative distance between unmanned watercraft 1000 that are communicatively connected to each other within the communicable range is controlled by prioritizing the operation of tracking the object over the operation of tracking the object.

[0203] Furthermore, if the relative distance between the unmanned vessels 1000 becomes too close and there is a risk of collision, position control is performed with high priority to increase the relative distance. Therefore, even when the unmanned vessels 1000 are commanded to execute an operation command such as tracking an object (or surrounding, preempting, or taking over tracking), position control is performed with priority given to maintaining the relative distance between the unmanned vessels 1000 to avoid collision, rather than to performing operations such as tracking the object.

[0204] Next, Figure 27 is a diagram showing the relative positions of multiple platoons 1010. In the example shown in Figure 27, two platoons (1010a, 1010b) cooperate with each other to perform position control. For example, the relative distance between the secondary connected slave device 10022a in platoon 1010a and the secondary connected slave device 10022b in platoon 1010b is controlled to maintain a steady-state relative distance (e.g., approximately 1 km). The steady-state relative distance is set to a distance shorter than the communication distance, and is preferably set to a distance such that the measurement ranges of the measurement sensors 1110 of adjacent unmanned crafts (1022a, 1022b) do not overlap, creating an area that cannot be measured by the measurement sensors.

[0205] For example, position information of the unmanned watercraft 1000 in each platoon is transmitted to the overall control system 2000 via the host unit 1001, and the operation management unit 2400 of the overall control system 2000 generates an operation command to control the position of each unmanned watercraft 1000, thereby making it possible to appropriately control the positions of the unmanned watercraft 1000 in each platoon. As another example, the host unit 1001a of the platoon 1010a and the host unit 1001b of the platoon 1010b share position information of the unmanned watercraft 1000 in each platoon via a communication satellite 3000 or the like (or by direct communication), and the host unit 1001 in each platoon generates a control command to control the position of the unmanned watercraft in the platoon, thereby making it possible to appropriately control the positions of the unmanned watercraft 1000 in each platoon.

[0206] (A-1-14. Position control during tracking operation) Below, using Figures 28 to 31, we will explain the chronological operating states of the two platoons 1010 from time t1 when the target (suspicious ship 7000) is detected, to time t8 when the target is tracked and tracking is taken over, and the tracking ends.

[0207] Figure 28 shows position control at times t1 and t2 when multiple unmanned watercraft 1000 are tracking an object. The upper diagram in Figure 28 shows the planar layout of the multiple unmanned watercraft 1000 and the communication network configuration (solid lines) at time t1, when the object (suspicious ship 7000) is detected by some of the unmanned watercraft 1000. The lower diagram in Figure 28 shows the state in which the operation management unit 2400 assigns tracking operations to two unmanned watercraft 1000 that are close to the object (suspicious ship 7000), and these unmanned watercraft 1000 begin executing the tracking operations.

[0208] Figure 29 shows position control at times t3 and t4 when multiple unmanned watercraft 1000 are tracking an object. The upper diagram in Figure 29 shows tracking operation at time t3. At time t3, one unmanned watercraft 1000 continues tracking from time t2, while another unmanned watercraft 1000 ends tracking and hands over tracking to another unmanned watercraft. The lower diagram in Figure 29 shows tracking operation at time t4 while tracking of an object (suspicious ship 7000) is in progress. At time t4, tracking is handed over to yet another unmanned watercraft 1000.

[0209] Figure 30 shows position control at times t5 and t6 when multiple unmanned watercraft 1000 are tracking an object. The upper diagram in Figure 30 shows the tracking operation at time t5. At time t5, two unmanned watercraft continue tracking, and one unmanned watercraft takes over tracking. The lower diagram in Figure 30 shows the tracking operation at time t6. At time t6, one unmanned watercraft ends tracking, and the other two continue tracking.

[0210] FIG. 31 shows position control at times t7 and t8 when multiple unmanned watercraft 1000 are tracking an object. The upper diagram in FIG. 31 shows the tracking operation at time t7. At time t7, two unmanned watercraft continue tracking, continuing to the edge of the platoon 1010's activity area. The lower diagram in FIG. 31 shows the tracking operation at time t8. At time t8, the object (suspicious vessel 7000) moves outside the platoon 1010's activity area, so the tracking operation ends and the watercraft return to the normal formation position at time t1. Note that if there is any data (measurement data or object detection results) remaining from the unmanned watercraft 1000 to the overall control system 2000, the untransmitted data is transmitted to the overall control system 2000 at time t8, when the platoon's tracking operation ends.

[0211] (A-1-15. Detailed Control of Tracking Takeover) Figure 32 is a diagram showing the chronological takeover process when tracking takeover control is performed. The upper diagram in Figure 32 shows the relative positions of each unmanned watercraft 1000 and the target object (suspicious ship 7000) at time t10, when the slave unit 10022a is tracking the target object (suspicious ship 7000). The range indicated by the solid line in the figure indicates the monitorable range that can be measured by the measurement sensors 1110 of the slave units 10022a and 10022b, and the range indicated by the dotted line in the figure indicates the tracking range in which the slave units 10022a and 10022b have determined that they can track the target object (suspicious ship 7000).

[0212] The monitoring range can be determined based on information on the measurable distance of the measurement sensors of the slave units (10022a, 10022b) that has been previously determined. Also, the tracking range can be determined by comparing the movement capability of the target (suspicious ship 7000) determined by the target analysis and determination unit 2200 with the movement capability of the slave units (10022a, 10022b) that has been previously determined.

[0213] At time t10, the overall control system 2000 determines whether the target (suspicious vessel 7000) is in a runaway warning state based on the movement capability of the target (suspicious vessel 7000) determined by the target analysis and determination unit 2200 and the movement capability of the sub-unit (10022a) that has been previously determined. If it is determined that the target is in a runaway warning state, it determines the predicted runaway position and predicted runaway time, and determines another unmanned vessel 1000 (sub-unit 10022b) that can take over based on that information, and assigns the tracking operation role to the sub-unit 10022b. The overall control system 2000 also determines the takeover execution position and time based on the information on the predicted runaway position and predicted runaway time, and the position, monitoring range, and tracking range of the sub-unit 10022b to which the tracking operation role has been assigned.

[0214] The lower diagram of Figure 32 shows the positional relationship between each unmanned watercraft 1000 and the target (suspicious ship 7000) at time t11, when tracking is handed over from slave unit 10022a to slave unit 10022b. At time t11, tracking is handed over from slave unit 10022a to slave unit 10022b, provided that the target (suspicious ship 7000) reaches the handover execution position where handover is executed. At time t11 shown in the lower diagram of Figure 32, the target (suspicious ship 7000) is located within the monitoring range and tracking range of slave unit 10022a, and is also located within the monitoring range and tracking range of slave unit 10022b. In this way, by determining that the target object (suspicious ship 7000) is located within the monitoring range and tracking range of sub-unit 10022a and within the monitoring range and tracking range of sub-unit 10022b as the conditions for handover (handover execution location and handover execution time), the tracking operation can be handed over to another unmanned boat 1000 without being left behind by the target object (suspicious ship 7000) and without losing track.

[0215] (A-1-16. Position control during encirclement operations) Below, the time series of operational states of the two squadrons 1010 from the time when the target (suspicious ship 7000) is detected to the time when the encirclement of the target is carried out will be explained using Figures 33 to 36. Figures 33 and 34 show the time series of operational states during the first encirclement operation, and Figures 35 and 36 show the time series of operational states during the second encirclement operation.

[0216] (A-1-16-1. First encircling operation) The time series of operational states in the first encircling operation will be described using Figures 33 and 34. Figure 33 is a diagram showing the state of position control at times t20 and t21 when multiple unmanned watercraft 1000 are encircling an object using the first encircling operation.

[0217] The upper diagram of Figure 33 shows the planar layout and communication network configuration (solid lines) of multiple unmanned vessels 1000 at time t20 when an object (suspicious vessel 7000) is detected by some of the unmanned vessels 1000. The lower diagram of Figure 33 shows the state in which the encirclement operation determination unit 2450 of the operation management unit 2400 assigns an encirclement operation to some or all of the unmanned vessels 1000 in the platoon, and further commands the target movement position and target movement time for the encirclement operation, and these unmanned vessels 1000 begin executing the encirclement operation.

[0218] Next, Figure 34 is a diagram showing position control at time t22 when a plurality of unmanned watercraft 1000 are surrounding an object using a first surrounding operation. At time t22, the formation of the plurality of unmanned watercraft 1000 is changed to surround the object, and the unmanned watercraft 1000 are moved so that the object is inside the formation of the plurality of unmanned watercraft 1000. Note that surrounding here does not only mean placing unmanned watercraft in all directions around the object, but also includes the operation of placing multiple unmanned watercraft at least partially around the object, for example, in a range of 180 degrees or more.

[0219] (A-1-16-2. Second encircling operation) The time series of operational states in the second encircling operation will be described using Figures 35 and 36. Figure 35 is a diagram showing the state of position control at times t30 and t31 when multiple unmanned watercraft 1000 are encircling an object in the second encircling operation.

[0220] The upper diagram of Figure 35 shows the planar layout and communication network configuration (solid lines) of multiple unmanned vessels 1000 at time t30 when an object (suspicious vessel 7000) is detected by some of the unmanned vessels 1000. The lower diagram of Figure 35 shows the state in which the encirclement operation determination unit 2450 of the operation management unit 2400 assigns an encirclement operation to some or all of the unmanned vessels 1000 in the platoon, and further commands the target movement position and target movement time for the encirclement operation, and these unmanned vessels 1000 begin executing the encirclement operation.

[0221] Next, Figure 36 shows position control at time t32 when multiple unmanned watercraft 1000 are used to surround an object using a second surrounding operation. At time t32, the formation of the multiple unmanned watercraft 1000 is not changed, and the entire platoon 1010, which is made up of multiple unmanned watercraft 1000, is moved so that the object's position is within the area where the multiple unmanned watercraft 1000 are deployed, or even closer to the center of the area where the unmanned watercraft 1000 are deployed. When the entire platoon 1010 is moved in this manner, the direction of movement of the platoon may be determined based on information determined by the object analysis and determination unit 2200, such as the object's past movement trajectory, the object's current direction of travel, the object's current heading direction, the object's predicted future path, and the object's predicted position at a future time. Note that the term "surrounding" as used here does not necessarily mean placing unmanned watercraft in all directions around the object, but also includes the operation of placing multiple unmanned watercraft at least partially around the object, for example, within a range of 180 degrees or more.

[0222] (A-1-17. Action Assignment Method for Multiple Unmanned Watercraft) Hereinafter, an assignment method for assigning action roles to multiple unmanned watercrafts by the action assignment determination unit 2420 will be described with reference to FIGS.

[0223] Fig. 37 shows what happens at times t40 and t41 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts. Fig. 38 shows what happens at times t42 and t43 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts. Fig. 39 shows what happens at times t44 and t45 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts. Fig. 40 shows what happens at times t46 and t47 when the action allocation determination unit 2420 assigns action roles to multiple unmanned watercrafts.

[0224] First, the upper diagram in Figure 37 shows the planar layout relationship of multiple unmanned crafts 1000 and the communication network configuration (solid lines) at time t40 when some of the unmanned crafts 1000 detected an object (suspicious craft 7000).

[0225] Next, the lower diagram in Figure 37 shows the predicted future course of the object (suspicious ship 7000) predicted at time t41 by the course prediction determination unit 2240 of the object analysis and determination unit 2200. Note that in this diagram, the predicted future course of the object predicted by the course prediction determination unit 2240 is shown as a straight line, but the predicted course does not necessarily have to be a straight line. If the movement trajectory determined by the motion state determination unit 2220 is curved, or if the current traveling direction or nose orientation of the object is changing, a curved course can be determined as the predicted course.

[0226] Furthermore, at time t41, not only is the predicted course determined by the course prediction determination unit 2240, but also the type of object determined by the type determination unit 2210, the past or present movement state determined by the movement state determination unit 2220, the predicted movement state other than the future predicted course determined by the course prediction determination unit 2240, the performance determination by the performance determination unit 2230, the navigation pattern determination by the navigation pattern determination unit 2250, and the behavior status determination by the behavior status determination unit 2260 are executed.

[0227] Next, the upper diagram in Figure 38 shows how the operation allocation determination unit 2420 of the operation management unit 2400 assigns an operation role to each unmanned watercraft 1000 at time t42. As shown in this figure, the unmanned watercraft 1000 located within the tracking assignment area 10, indicated by a dotted arc within a predetermined range from the target (suspicious vessel 7000), is assigned the operation role of tracking. Furthermore, the unmanned watercraft 1000 located within the tracking takeover assignment area 20, which is set around the predicted course of the target, is assigned the operation role of tracking. Furthermore, the unmanned watercraft 1000 located within the tracking takeover assignment area 30, which is set further ahead of the tracking takeover assignment area 20 on the predicted course, is assigned the operation role of proactive. The proactive operation determination unit 2460 also generates a proactive target area 40 and instructs the unmanned watercraft 1000 assigned the proactive operation role to use the proactive target area 40 as the target area for proactive movement. Furthermore, the proactive operation determination unit 2460 may generate a proactive target time for moving to the proactive target area 40, and generate a movement command for moving to the proactive target area 40 by the proactive target time.

[0228] Note that unmanned watercraft 1000 that do not belong to any of the above-mentioned tracking assignment area 10, takeover tracking assignment area 20, or advance assignment area 30, and that are not assigned any of the tracking, takeover tracking, or advance operation roles, are assigned other operation roles, such as relaying communications between multiple unmanned watercraft, storing measurement data, and analyzing measurement data. In the example shown in the upper diagram of Figure 38, the primary connection slave device 10021 is assigned the role of relaying communications, and the other unmanned watercraft are assigned the roles of storing measurement data and analyzing measurement data.

[0229] Next, the lower diagram in Figure 38 shows the movement state of the unmanned watercraft 1000 at time t43. In the example shown in this figure, the four unmanned watercraft 1000 assigned the advance operation role at time t42 have completed movement into the advance target area 40, which is the movement target area.

[0230] Next, the upper diagram in Figure 39 shows a state in which, at time t44, the unmanned watercraft 1000 performing tracking operations detects a change in the direction of travel (a sharp turn) of the target object (suspicious ship 7000). In this case, the course prediction state determination unit 2340 determines that the course prediction state is "course prediction abnormal," and the command to allocate a proactive operation to the unmanned watercraft 1000 that was performing the proactive operation role at time t44 is canceled, and similarly, the command to allocate a tracking operation takeover to the unmanned watercraft 1000 that was performing the tracking operation takeover role at time t44 is canceled.

[0231] 39, at time t45, the course prediction determination unit 2240 of the object analysis and determination unit 2200 determines the predicted future course of the object (suspicious ship 7000) after the course change. Note that at time t45, not only is the course prediction determination unit 2240 determining the predicted course, but also the following are executed: determination of the type of object by the type determination unit 2210; determination of the past or present motion state by the motion state determination unit 2220; prediction and determination of a movement state other than the future predicted course by the course prediction determination unit 2240; performance determination by the performance determination unit 2230; determination of the navigation pattern by the navigation pattern determination unit 2250; and determination of the behavior status by the behavior status determination unit 2260.

[0232] Next, the upper diagram in FIG. 40 shows how the action allocation determination unit 2420 of the action management unit 2400 assigns an action role to each unmanned watercraft 1000 at time t46. As shown in this diagram, the unmanned watercraft 1000 located within the takeover tracking assignment area 20, which is set around the predicted course of the target object, is assigned the action role of takeover tracking. Furthermore, the two unmanned watercrafts 1000 located within the advance assignment area 30, which is set further ahead of the takeover tracking assignment area 20 on the predicted course, are assigned the action role of advance. The advance operation determination unit 2460 also generates an advance target area 40 and commands the unmanned watercraft 1000 assigned the advance operation role to use the advance target area 40 as a movement target area for the advance operation. The advance operation determination unit 2460 may also generate an advance target time for movement to the advance target area 40 and generate a movement command to move to the advance target area 40 by the advance target time.

[0233] Next, the lower diagram in Figure 40 shows the movement state of the unmanned watercraft 1000 at time t47. In the example shown in this figure, at time t46, two unmanned watercraft 1000 assigned the advance operation role have completed movement into the advance target area 40, which is the movement target area, and the unmanned watercraft 1000 assigned the takeover role at time t46 has taken over tracking.

[0234] (A-1-18. Relative Distance Control Method During Tracking) A method for controlling the relative distances between multiple unmanned watercraft by the tracking operation determination unit 2430 when the overall operation command is determined to be tracking will be described below with reference to FIGS. 41 to 44. FIG. 41 shows what happens at times t50 and t51 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. FIG. 42 shows what happens at times t52 and t53 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. FIG. 43 shows what happens at times t54 and t55 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft. FIG. 44 shows what happens at times t56 and t57 when the tracking operation determination unit 2430 controls the relative distances between multiple unmanned watercraft.

[0235] 41 shows a state where, at time t50, multiple slave units (10022a, 10022b, 10022c, 10022d) are tracking an object (suspicious ship 7000). At time t50, the tracking operation determination unit 2430 controls the movement speed of each tracking slave unit in accordance with the movement speed of the object so that each tracking slave unit does not become separated from the object.

[0236] Next, the lower diagram of Figure 41 shows the situation where at time t51, at least one of the tracking slave units (10022a, 10022b, 10022c, 10022d) detects a sudden deceleration of the target object (suspicious ship 7000).

[0237] Next, the upper diagram of Figure 42 shows how, at time t52, the rearmost tracking sub-machines (10022a, 10022c) decelerate in response to the deceleration of the target. Furthermore, the lower diagram of Figure 42 shows how, at time t53, the frontmost tracking sub-machines (10022b, 10022d) decelerate in response to the deceleration of the target. In this way, when multiple unmanned watercraft 1000 being tracked are decelerated in response to the deceleration of the tracked target, by first slowing down the unmanned watercraft 1000 traveling at the rear in the direction of travel, it is possible to prevent the unmanned watercraft 1000 from getting too close to each other and colliding.

[0238] Next, the upper diagram of Figure 43 shows the situation at time t54 when at least one of the tracking slave units (10022a, 10022b, 10022c, 10022d) detects a sudden acceleration of the target object (suspicious ship 7000).

[0239] Next, the lower diagram of Figure 43 shows how, at time t55, the slave units (10022b, 10022d) located in the front among the slave units being tracked accelerate in response to the acceleration of the target object.

[0240] 44 shows how, at time t56, the rearmost tracking sub-sub ...

[0241] The above-described embodiments are merely examples for facilitating understanding of the present invention, and are not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.

[0242] [A-2. Effects of this embodiment] The above-described embodiment can improve the performance of monitoring and tracking a moving object moving in a marine area, etc., using multiple unmanned aerial vehicles. For example, even if the object being monitored or tracked flees at high speed or flees in a direction where there are fewer or no unmanned vessels, monitoring and tracking can be continued or can be performed for a longer period of time.

[0243] 1...Control system (system) 100...Input device 200...Output device 300...Processing device 400...Main memory device 500...Auxiliary memory device 600...Communication device 700...Bus 1000...Unmanned boat 1001...Master unit 1002...Slave unit 10021...Primary connected slave unit 10022...Secondary connected slave unit 10023...Tertiary connected slave unit 1010...Platoon 1100...Measurement unit 1110...Measurement sensor 1120...Measurement control unit 1200...Own aircraft state determination unit 1210...Navigation state determination unit 1220...Internal state determination unit 1230...External state determination unit 1300...Navigation unit 1400...Communication unit 1410...Unmanned boat-to-unmanned boat communication unit 1420...Satellite communication unit 1430...External communication unit 1500...Determination unit 1510: Object detection determination unit 1511: Initial detection unit 1512: Detailed measurement determination unit 1513: Detailed detection unit 1514: Object suitability determination unit 1520: Object analysis unit 1521: Position determination unit 1522: Performance determination unit 1523: Future course prediction unit 1600: Recording unit 1610: Measurement data recording unit 1620: Own aircraft status recording unit 1630: Determination information recording unit1700...Other action execution unit 2000...Overall control system 2100...Information import unit 2110...Detection condition acquisition unit 2120...Detection information acquisition unit 2130...External information acquisition unit 2140...External user input information acquisition unit 2200...Object analysis and determination unit 2210...Type determination unit 2220...Operation status determination unit 2230...Performance determination unit 2240...Course prediction determination unit 2250...Navigation pattern determination unit 2260...Action status determination unit 2300...System status determination unit 2310...Unmanned boat status determination unit 2320...Capture and loss prediction unit 2330...Tracking status determination unit 2340...Course prediction status determination unit 2400...Operation management unit 2410...Overall operation determination unit 2420...Action allocation determination unit 2430...Tracking operation determination unit 2440... Tracking break-off response action determination unit 2450... Surrounding operation determination unit 2460... Proactive operation determination unit 2470... Operation command determination unit 2500... User interface unit 2510... Display unit 2520... User input reception unit 2600... Operation command unit 2700... Information and communication unit 3000... Communication satellite 4000... Terrestrial base station 5000... Cooperative system 6000... External system 7000... Suspicious ship

Claims

1. A control system for detecting objects using a plurality of unmanned boats capable of navigating on or above the water surface, comprising: a measurement unit that acquires measurement data using measurement sensors mounted on the plurality of unmanned boats; an object detection and determination unit that processes the measurement data to detect the objects; an object analysis and determination unit that determines at least one of the type, operating state, and dynamic performance of the detected objects; and an unmanned boat operation management unit that issues operation commands to the plurality of unmanned boats, wherein the unmanned boat operation management unit determines the content of the operation commands to the plurality of unmanned boats depending on the determination result by the object analysis and determination unit.

2. A control system as described in claim 1, wherein the unmanned vessel operation management unit determines the allocation of operation roles to each of the plurality of unmanned vessels and issues the operation commands to the plurality of unmanned vessels to carry out the assigned operation roles.

3. A control system as described in claim 2, wherein the operational roles assigned to the plurality of unmanned vessels by the unmanned vessel operation management unit include at least one of the following: a role of tracking the object, a role of taking over tracking of the object, a role of anticipating the destination of the object, a role of surrounding the object, a role of relaying communications between the plurality of unmanned vessels, a role of storing the measurement data, and a role of performing analytical processing of the measurement data.

4. A control system as claimed in claim 1, wherein the operating state or dynamic performance of the object determined by the object analysis and determination unit includes past or present moving states including at least one of the object's past movement trajectory, current traveling direction, current heading direction, current moving speed, current acceleration and current deceleration, or predicted future moving states including at least one of the object's predicted future course, predicted position at a future time, predicted speed at a future time and predicted moving direction at a future time, or dynamic performance including at least one of the object's maximum moving speed, maximum turning speed, maximum acceleration, maximum deceleration and possible moving distance.

5. A control system as described in claim 1, wherein, when the type of the object determined by the object analysis and determination unit corresponds to a predetermined type, or when the current movement speed of the object is equal to or less than a predetermined value, the unmanned boat operation management unit issues an operation command to at least one of the plurality of unmanned boats to perform an encirclement operation to move the unmanned boat so that the object is inside the formation of the plurality of unmanned boats.

6. A control system as described in claim 4, wherein, when the unmanned watercraft operation management unit issues a movement command for proactive operation to the destination of the object, the unmanned watercraft operation management unit issues the operation command to at least some of the plurality of unmanned watercraft to move the unmanned watercraft to at least one of the positions or areas determined by the object analysis and determination unit, on an extension of the object's past movement trajectory or the surrounding area on that extension, ahead of the object's current direction of travel or the surrounding area, ahead of the object's current heading direction or the surrounding area, on the object's predicted future path or the surrounding area on that predicted path, or the predicted position of the object at a future time or the surrounding area of ​​the predicted position.

7. A control system according to claim 1, wherein the object includes an object moving on the water surface, underwater, or in the air, and the object analysis and determination unit determines the object's navigation pattern, which includes at least one of the following: stopped, where the object is stopped or nearly stopped; navigation within the object's steady speed range; navigation faster than the steady speed range; navigation slower than the steady speed range; accelerating navigation; decelerating navigation; repeated acceleration and deceleration; zigzag navigation, where the object navigates a zigzag path; turning course change, where the object changes course by making a turn; U-turn navigation; and figure-of-eight navigation, where the object navigates a figure-of-eight path.

8. A control system according to claim 1, wherein the object analysis and determination unit determines the escape behavior state of the object, which includes at least one of the behaviors of shaking off pursuit, avoiding being pursued, moving away from an approaching unmanned vessel, preventing a course prediction, avoiding an unmanned vessel moving ahead, and avoiding being surrounded.

9. A control system as claimed in claim 1, further comprising a system state determination unit that determines the current or future state of the plurality of unmanned vessels, or the current or future relative operating states of the plurality of unmanned vessels and the object, and the unmanned vessel operation management unit determines the operation commands for the plurality of unmanned vessels according to the determination results by the system state determination unit.

10. A control system as described in claim 9, wherein the system state determination unit determines at least one of the positions of the plurality of unmanned vessels, the number of vessels, the direction of movement, the speed of movement, the distance that can be traveled, the remaining energy, and an estimated value of the mobility capability of the unmanned vessel, including the speed of movement or the distance that can be traveled, in the external environment of the area in which the unmanned vessel is active.

11. A control system as described in claim 9, wherein the system state determination unit determines a relative operating state including at least one of a tracking state in which the unmanned vessel is tracking the object, a shake-off indication state in which the unmanned vessel being pursued shows signs of being shaken off due to the object's attempt to flee, a shake-off occurrence state in which the unmanned vessel being pursued has been shaken off due to the object's attempt to flee, and a position capture lost state in which the unmanned vessel has lost track of the object's position.

12. A control system according to claim 11, wherein the system state determination unit performs a runaway prediction determination to predict at least one of a predicted runaway position and a predicted runaway time at which the unmanned boat being tracked will be runaway.

13. A control system as described in claim 11, wherein the system state determination unit determines that the runout state has occurred when the relative distance between the unmanned vessel being tracked and the target object becomes a predetermined distance or greater.

14. A control system as claimed in claim 11, wherein the system state determination unit determines that the state corresponds to a symptom of run-out when the movement speed of the unmanned vessel being tracked is slower than the movement speed of the object, or when the relative distance between the unmanned vessel being tracked and the object is increasing over time, or when the movement distance of the unmanned vessel being tracked is shorter than the movement distance of the object, or when the remaining energy of the unmanned vessel being tracked is less than the remaining energy of the object, or when the maximum movement speed of the unmanned vessel being tracked is slower than the maximum movement speed of the object.

15. A control system as described in claim 12, wherein, when making the runaway prediction judgment, the system status judgment unit judges at least one of the runaway predicted position and the runaway predicted time at which the unmanned vessel to be tracked will be runaway, based on status information regarding the unmanned vessel to be tracked, including at least one of the movement speed, movement direction, and position of the unmanned vessel, and status information regarding the object, including at least one of the movement speed, movement direction, and position of the object.

16. A control system as described in claim 12, wherein, when the system state determination unit determines that the state corresponds to the runout symptom state, the runout occurrence state, or the position capture lost state, the unmanned vessel operation management unit determines whether to assign the role of taking over the tracking operation to another unmanned vessel different from the unmanned vessel that is currently tracking.

17. A control system as described in claim 16, wherein when the unmanned vessel operation management unit assigns the role of taking over the tracking operation to another unmanned vessel different from the unmanned vessel performing the tracking, the unmanned vessel operation management unit performs at least one of the following on the unmanned vessel: selecting the unmanned vessel to be assigned the role of taking over the tracking operation of the target object; issuing an operation command to the unmanned vessel to move the unmanned vessel to the predicted run-out position; or issuing an operation command to move the unmanned vessel to the predicted run-out position by the predicted run-out time.

18. A control system as described in claim 11, wherein, when the system state determination unit determines that the state corresponds to the runout symptom state or the runout occurrence state, and the object analysis determination unit determines at least one of the object's past movement trajectory, current traveling direction, current nose direction, future predicted course, or future predicted position, the unmanned boat operation management unit issues the operation command for a proactive operation to at least some of the plurality of unmanned boats to move the unmanned boat to at least one of a position or area on an extension of the object's past movement trajectory determined by the object analysis determination unit or the surrounding area on said extension, ahead of the object's current traveling direction or the surrounding area, ahead of the object's current nose direction or the surrounding area, on the object's future predicted path or the surrounding area on said predicted path, or the predicted position of the object at a future time or the surrounding area of ​​said predicted position.

19. A control system as described in claim 12, wherein, when the system state determination unit determines that the state corresponds to the indication of runout, the unmanned boat operation management unit issues the operation command to the unmanned boat, which command includes at least one of attaching paint or a transmitter to the object.

20. A control system as claimed in claim 11, wherein, when the system state determination unit determines that the state corresponds to the run-out state or the position capture lost state, the unmanned boat operation management unit issues the operation command to the unmanned boat that has entered the run-out state or the position capture lost state to assign an operation role to the unmanned boat that has entered the run-out state or the position capture lost state, the operation role including at least one of the following roles: taking over tracking of the object, anticipating the target's destination, surrounding the object, relaying communications between the multiple unmanned boats, storing the measurement data, and analyzing the measurement data.

21. A control system as described in claim 9, wherein the system state determination unit determines at least one of the following: whether or not a capture loss has occurred, in which the plurality of unmanned vessels have lost track of the target object due to the target object's escape; whether or not such a capture loss will occur in the future; a predicted location where such a capture loss will occur; an area where the target object's position can be captured; a predicted time when such a capture loss will occur; and a time period during which the target object's position can be captured.

22. A control system as described in claim 21, comprising an information output unit that outputs information including at least one of information on the occurrence of the capture loss, the predicted loss position, the predicted loss time, and information on the target object to an external system when the system state determination unit determines that the capture loss has occurred or predicts that the capture loss will occur in the future.

23. A control system according to claim 1, wherein the object analysis and determination unit determines the predicted future course or predicted position of the object at a future time, and the object analysis and determination unit determines the object's navigation pattern, including at least one of the following: stopped (where the object is stopped or nearly stopped), traveling within the object's steady speed range, traveling faster than the steady speed range, traveling slower than the steady speed range, accelerating, decelerating, repeated acceleration and deceleration, zigzag navigation (navigating a zigzag route), turning course change (changing course by turning), U-turn navigation, and figure-of-eight navigation (navigating a figure-of-eight route), or the object's escape behavior state, including at least one of behaviors: shaking off pursuit, avoiding a leading unmanned vessel, disrupting course prediction, avoiding being surrounded, and moving away from an approaching unmanned vessel; The system state determination unit determines the validity of the determined future predicted route or the predicted position at a future time, depending on the navigation pattern or the escape behavior state.

24. A control system as described in claim 1, wherein when the unmanned boat operation management unit issues an operation command for a tracking operation of the object, the unmanned boat operation management unit issues the operation command including information regarding the tracking formation of the multiple unmanned boats, including at least one of tracking from behind the object's direction of travel, tracking from two directions (left and right) relative to the object's direction of travel, tracking from three directions (left and right and behind) relative to the object's direction of travel, tracking from four directions (front, back, left and right) relative to the object's direction of travel, or tracking from ahead of the object's direction of travel.

25. A control system as described in claim 1, wherein, when the unmanned boat operation management unit issues an operation command for a tracking operation on the object, the unmanned boat operation management unit issues the operation command including information regarding at least one of the following tracking operations: an operation to prevent collision between the multiple unmanned boats performing tracking operations on the object, an operation to prevent collision between the object and the unmanned boat, an operation to shorten the distance between the unmanned boat and the object, and an operation to increase the distance between the unmanned boat and the object.

26. An information system in accordance with claim 1, further comprising a user interface unit that displays candidate information for the operation command generated by the unmanned watercraft operation management unit and receives user input information for the operation command from a user, wherein when the user interface unit receives the user input information, the unmanned watercraft operation management unit determines the operation command in accordance with the user input information.

27. A control method for a system that detects objects using multiple unmanned watercraft capable of navigating on or above the water surface, wherein a computer executes the following steps: a measurement step of acquiring measurement data using measurement sensors mounted on the multiple unmanned watercraft; an object detection step of processing the measurement data to detect the objects; an object analysis step of determining at least one of the type, operating state, and dynamic performance of the detected objects; a command determination step of determining the content of an operation command to the multiple unmanned watercraft based on the determination result in the object analysis step; and an operation command step of issuing commands to the multiple unmanned watercraft based on the operation command.

28. A program for controlling a system that detects objects using multiple unmanned watercraft capable of navigating on or above the water surface, the program causing a computer to execute the following: measurement commands to obtain measurement data using measurement sensors mounted on the multiple unmanned watercraft; object detection commands to process the measurement data and detect the objects; object analysis commands to determine at least one of the type, operating state, and dynamic performance of the detected objects; command determination commands to determine the content of operation commands to the multiple unmanned watercraft based on the determination results made based on the object analysis commands; and operation execution commands to issue commands to the multiple unmanned watercraft based on the operation commands.

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