Control system, control method, and program

Abstract

[Problem] The present invention makes it possible to improve the effectiveness of a search mission or the like when searching for a target by means of a plurality of systems. [Solution] The present invention is a control system that searches for a target in a prescribed first area by using a plurality of mobile bodies. The control system is provided with: a target information interpretation unit that, on the basis of acquired information obtained from a coordination system capable of measuring a second area including an area outside the first area in at least a part thereof, interprets target information concerning a target present in the second area; a target operation prediction unit that, on the basis of the target information, generates entry prediction information concerning the content of prediction that the target will enter the first area from the area outside the first area; and an information output unit that displays and outputs, or transmits to the outside, the entry prediction information generated by the target operation prediction unit or information concerning a mobile body operation command for some or all of the plurality of mobile bodies, the mobile body operation command being generated by a mobile body operation determination unit on the basis of the entry prediction information.

Description

Control System, Control Method, and Program 【0001】 The present invention relates to a control system, a control method, and a program. 【0002】 Conventionally, the practical application of a system that autonomously moves a plurality of unmanned aircraft to search for a specific object has been studied. Patent Document 1 discloses a technique for optimizing the search behavior of an entire group of unmanned aircraft while each aircraft constituting the plurality of unmanned aircraft autonomously selects an action. In particular, a tracking operation method after an object is discovered within a search area is disclosed. 【0003】 Japanese Patent Application Laid-Open No. 2018-105599 【0004】 Here, in Patent Document 1 and the like, after an object is discovered by a plurality of unmanned aircraft within a search target area, it is disclosed that a plurality of unmanned aircraft located around the discovered object are made to perform a tracking action. However, the cooperation function with other systems other than the unmanned aircraft search system using unmanned aircraft has not been studied. 【0005】 The search task of the object can be considered to be carried out in parallel using a plurality of search systems including other search systems such as artificial satellites and aircraft, not only the unmanned aircraft search system using unmanned aircraft. When searching for an object using such a plurality of search systems, by sharing the information of the object discovered in any of the plurality of search systems among the plurality of search systems, the search performance of the entire plurality of search systems and the performance such as tracking after discovery can be improved. 【0006】 Therefore, the present invention has been made in consideration of at least one of the above problems, and one object is to provide a system or a control method or the like that can improve the effect of a search task or the like when searching for an object by a plurality of systems. 【0007】According to the present invention, a control system is obtained that searches for an object in a predetermined first area using multiple moving bodies, and comprises: an object information interpretation unit that interprets object information relating to an object in the second area based on acquired information obtained from a cooperative system capable of measuring a second area that includes at least a part of an area outside the first area; an object motion prediction unit that generates entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area based on the object information; and an information output unit that displays or transmits to the outside information relating to the entry prediction information generated by the object motion prediction unit, or information relating to mobile motion commands for some or all of the multiple moving bodies generated by the mobile motion determination unit based on the entry prediction information. 【0008】 According to the present invention, the effectiveness of search missions and other tasks when searching for an object using multiple systems can be improved. 【0009】This is an overall configuration diagram of a control system 1 according to one embodiment of the present invention. This is a diagram showing an example of the implementation image of the control system 1 in real space. This is a diagram showing an example of a cooperative system 5000 and an external system 6000. This is a diagram showing an example of the implementation image of the cooperative system 5000 in real space. This is a configuration diagram showing an unmanned vessel system 1000 composed of multiple unmanned vessels. This is a diagram showing an example of the formation of the unmanned vessel system 1000 deployed on the sea. This is a functional block diagram showing the functional configuration of the unmanned vessel 1010. This is a functional block diagram showing the functional configuration of the overall control system 2000. This is a functional block diagram showing the functional configuration of the heterogeneous system management unit 2100. This is a functional block diagram showing the functional configuration of the unmanned vessel system management unit 2200. This is a diagram showing an example of prior information acquired by the prior information acquisition unit 2110. This is a diagram showing an example of an overall prior plan determined by the overall prior plan determination unit 2120. This is a diagram showing the search area included in the overall prior plan determined by the overall prior plan determination unit 2120. This is a diagram showing an example of object information determined by the object detection determination unit 2133. This figure shows an example of approach prediction information determined by the object motion prediction unit 2140. This figure shows an example of the content of the search operation command determined by the search operation decision unit 2231. This is a flowchart showing an example of the processing flow of the integrated control system 2000. This is a flowchart showing an example of the processing flow of the detection determination of object 7000 by the object information interpretation unit 2130. This figure shows an example of the future motion prediction result of object 7000 by the object motion prediction unit 2140. This figure shows an example of display information showing the operation command for unmanned vessel 1010 determined by the unmanned vessel operation decision unit 2230. This is a flowchart showing an example of the processing flow of the detection determination and motion prediction of object 7000 by the object detection unit 2240. This is a hardware configuration diagram of the integrated control system 2000. 【0010】The embodiments of the present invention are described below. The present invention has the following configuration: [Item 1] A control system for searching for an object in a predetermined first area using a plurality of moving bodies, comprising: an object information interpretation unit that interprets object information relating to the object in the second area based on acquired information obtained from a cooperative system capable of measuring a second area which includes at least a part of an area outside the first area; an object motion prediction unit that generates entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area based on the object information; and an information output unit that displays or transmits to the outside information relating to the entry prediction information generated by the object motion prediction unit, or information relating to a portion or all of the plurality of moving bodies generated by a moving body motion determination unit based on the entry prediction information. [Item 2] A control system according to Item 1, wherein the object information read by the object information reading unit includes at least one of the following: whether or not an object is detected, the type of object, its size, detection position, detection time, attitude direction, direction of movement, speed of movement, and trajectory of movement. [Item 3] A control system according to Item 1 or 2, wherein the moving body is an unmanned vessel capable of moving on the sea and searching for the object in the first area on or under the sea using a measuring sensor.[Item 4] A control system according to any one of Items 1 to 3, wherein the cooperative system includes at least one of the following systems: a high-orbit geostationary satellite system capable of acquiring information about the object using a high-orbit geostationary satellite; a low-orbit satellite system capable of acquiring information about the object using a low-orbit orbit satellite; an aircraft surveillance system capable of acquiring information about the object using an aircraft; a sea surveillance system capable of acquiring information about the object located at sea using a measuring device installed on or under the sea, or a mobile vessel deployed on the sea; an underwater surveillance system capable of acquiring information about the object located underwater using a measuring device installed on, under, or on the sea, or a mobile submersible deployed on, under, or on the sea; and a ship operation surveillance system for acquiring ship operation information. [Item 5] A control system according to any one of Items 1 to 4, wherein the cooperative system includes at least two of the systems from among the high-orbit geostationary satellite system, the low-orbit satellite system, the aircraft monitoring system, the maritime monitoring system, the underwater monitoring system, and the ship operation monitoring system, and the object information interpretation unit interprets the object information, including at least one of the presence or absence of detection of the object, the type of object, size, position, direction of movement, speed of movement, and trajectory of movement, based on the acquired information obtained from the two or more systems, a control system. [Item 6] A control system according to any one of Items 1 to 5, wherein the object information interpretation unit changes the system used to interpret the object information to acquire the acquired information to another system, depending on the state of insufficient acquired information or the environmental disturbance information in the second area, a control system. [Item 7] A control system according to any one of Items 1 to 6, wherein the object information interpretation unit requests the cooperative system to acquire additional information if it is unable to interpret the object information due to insufficient acquired information.[Item 8] A control system according to any one of Items 1 to 7, wherein the entry prediction information generated by the object motion prediction unit includes prediction information of at least one of the following when it is predicted that the object will enter the first area: the entry position into the first area, the entry direction, the entry speed, the predicted movement path after entering the first area, the predicted target position after entering, the probability of entering the first area, the probability of the object and the moving body encountering each other in the first area, and the probability of the moving body discovering the object in the first area. [Item 9] A control system according to any one of Items 1 to 8, wherein when the object information reading unit detects a plurality of objects, the entry prediction information generated by the object motion prediction unit includes prediction information of the entry area when it is predicted that the plurality of objects will enter the first area, or the merging area when it is predicted that the plurality of objects will merge in the first area, or whether at least one of the plurality of objects is a diversionary operative. [Item 10] A control system according to any one of Items 1 to 9, wherein when the object motion prediction unit predicts the entry position or entry area in which one or more objects will enter the first area, the information regarding the mobile body motion command generated by the mobile body motion determination unit includes motion command information for causing the mobile body to wait at the entry position, the entry area, or the area surrounding the entry position or the entry area. [Item 11] A control system according to any one of Items 1 to 10, wherein when the object motion prediction unit predicts that one or more objects will enter the first area, the information regarding the mobile body motion command generated by the mobile body motion determination unit includes motion command information for tracking the object within the first area.[Item 12] A control system according to any one of Items 1 to 11, wherein when the object motion prediction unit predicts that one or more objects will exit the first area, the information regarding the mobile body motion command generated by the mobile body motion determination unit includes motion command information for tracking the object near the boundary within the first area, following the position of the object moving outside the first area. [Item 13] A control system according to any one of Items 1 to 12, wherein when the object motion prediction unit predicts that one or more objects will re-enter the first area after exiting the first area, the information regarding the mobile body motion command generated by the mobile body motion determination unit includes motion command information for causing the mobile body to wait at the re-entry position or re-entry area predicted by the object motion prediction unit, or in the area surrounding the re-entry position or re-entry area. [Item 14] A control system according to any one of Items 1 to 13, wherein the mobile body operation determination unit generates or updates a search plan that includes at least one of the target area for search by a plurality of mobile bodies, search time, number of mobile bodies, arrangement, movement target, target search performance, and measurement sensors based on the entry prediction information. [Item 15] A control system according to any one of Items 1 to 14, further comprising a user input receiving unit that receives user-specified information regarding mobile body operation commands for some or all of the plurality of mobile bodies, wherein the mobile body operation determination unit determines the mobile body operation command based on the received user-specified information.[Item 16] A control system according to any one of Items 1 to 15, wherein the object information reading unit reads object information relating to the object located within the first area based on information measured by a measuring sensor mounted on the moving body; the object motion prediction unit generates motion prediction information predicting the future movement path of the object inside or outside the first area based on the read object information within the first area; and the moving body motion determination unit generates or updates moving body motion commands for some or all of the multiple moving bodies based on the object motion prediction information. [Item 17] A control system according to any one of Items 1 to 16, wherein the object information reading unit reads object information relating to an object located in the first area based on information measured by a measurement sensor mounted on the mobile body; the object motion prediction unit generates exit prediction information predicting at least one of the exit position, exit time, and movement path after exit, where the object is expected to exit the first area, based on the read object information in the first area; and the information output unit transmits the exit prediction information to the cooperative system. [Item 18] A control system according to any one of Items 1 to 17, wherein the mobile body motion determination unit generates or updates a search operation command including at least one of the target area for search by a plurality of mobile bodies, search time, number of mobile bodies, arrangement, movement target, target search performance, and measurement sensor, based on a measurement plan in the second area of ​​the cooperative system. [Item 19] A control system according to any one of Items 1 to 18, comprising a user input receiving unit that receives user input regarding at least one of the measurement plan for the second area by the cooperative system and the search plan for the first area by the plurality of mobile bodies, wherein the mobile body operation determination unit generates or updates a search operation command that includes at least one of the target area for the search by the plurality of mobile bodies, the search time, the number of mobile bodies, their arrangement, the number of units in formation, the target, the target search performance, and the measurement sensors, based on the user input regarding the measurement plan for the second area or the search plan for the first area received,[Item 20] A control method for searching for an object in a predetermined first area using multiple mobile bodies, the control method comprising: an object information interpretation step in which a computer interprets object information relating to the object in the second area based on acquired information obtained from a cooperative system capable of measuring a second area which includes at least a part of an area outside the first area; an object movement prediction step in which, based on the object information, the computer generates entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area; and an information output step in which the computer displays or transmits to the outside the entry prediction information generated based on the object information, or information relating to mobile body movement commands for some or all of the multiple mobile bodies generated based on the entry prediction information. [Item 21] A program usable in a control system that searches for an object in a predetermined first area using multiple moving bodies, the program causing a computer to execute: an object information interpretation command for interpreting object information relating to an object in the second area based on acquired information obtained from a cooperative system capable of measuring a second area which includes at least part of an area outside the first area; an object movement prediction command for generating entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area based on the object information; and an information output command for displaying or transmitting to the outside information relating to the entry prediction information generated based on the object information, or information relating to some or all of the multiple moving bodies movement commands generated based on the entry prediction information. 【0011】 <A. First Embodiment> Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant explanations will be omitted. Furthermore, the embodiments shown below are merely examples, and other known elements or alternative means can be used depending on the application, purpose, or scale. 【0012】[A. Configuration] (A-1. Overall System Configuration) First, the overall system configuration of the control system 1 according to one embodiment of the present invention will be described using Figures 1 to 4. 【0013】 (A-1-1. Overview of the overall system configuration) Figure 1 is an overall configuration diagram of a control system 1 (hereinafter also referred to as "system 1") according to one embodiment of the present invention. As shown in Figure 1, the control system 1 comprises an unmanned vessel system 1000 and a central control system 2000. The central control system 2000 is configured to communicate with an external cooperative system 5000 and an external system 6000 via an internet connection or the like, and can input and output information. The central control system 2000 can transmit control commands to the unmanned vessel system 1000 deployed at sea via a ground base station 4000 and a communication satellite 3000, and can also receive the operating status and measurement data of the unmanned vessel system 1000. Therefore, the integrated control system 2000 can remotely control, autonomously navigate, or automatically navigate the unmanned vessel system 1000, which has multiple unmanned vessels 1010 (also called "unmanned ships") that are capable of navigating and moving on the sea and equipped with measurement sensors capable of detecting the target object 7000, and can search for the target object 7000 in a predetermined area (first area) on or under the sea using the measurement sensors. Here, the predetermined area is any area that can be set or pre-set by the user. 【0014】 The unmanned vessel system 1000 comprises one or more unmanned vessels 1010. When the unmanned vessel system 1000 is composed of multiple unmanned vessels 1010, the multiple unmanned vessels 1010 are connected to each other by wireless communication and can form a communication network. In addition, the unmanned vessel 1010 has the function of detecting objects 7000, such as ships, floating objects, drifting persons, buoys and other moving objects on the surface of the sea, as well as underwater moving objects such as divers and marine life (whales, etc.), using measurement sensors mounted on the vessel (sound wave sensors such as sonar, optical cameras, IR cameras, laser sensors such as LiDAR, radar sensors such as millimeter-wave sensors and microwave sensors, etc.). 【0015】The detection results and measurement data of objects detected by the unmanned vessel system 1000, as well as various information on the operational status of each unmanned vessel 1010 of the unmanned vessel system 1000, are transmitted to the central control system 2000 via the communication satellite 3000 and the ground base station 4000. The central control system 2000 determines operational commands for the unmanned vessel system 1000 based on the information obtained from the unmanned vessel system 1000 and pre-obtained request information. The generated operational commands and other information are transmitted to the user terminal device 8000 and displayed to the user. Intervention commands related to operational commands from the user can also be obtained via the user terminal device 8000. 【0016】 (A-1-2. Example of implementation of control system 1 in real space) Figure 2 is a diagram showing an example of an implementation image of control system 1 in real space. In the example shown in Figure 2, a ground base station 4000 and a central control system 2000 are provided on the ground side shown in the upper right of the diagram. Also on the ground side, a cooperative system 5000 connected to the central control system 2000 by a network, an external system 6000, and a user terminal device 8000 are provided. 【0017】 On the other hand, on the ocean side shown on the left of the diagram, the unmanned vessel system 1000 is deployed to search for objects 7000 present in the ocean. The unmanned vessel system 1000 also has multiple groups (1000a, 1000b, 1000c) consisting of a master unit and multiple slave units, and each group can communicate directly or via the communication satellite 3000. 【0018】 In the example shown in Figure 2, the central control system 2000 is shown to be implemented in a land-based facility, but it is not limited to this. All or part of the functions implemented in the central control system 2000 shown in this embodiment can be installed on coastal field bases located in land-based coastal areas (not shown) or on manned mother ships at sea, and the operation and management of the unmanned vessel system 1000 can be performed at the coastal field bases or manned mother ships. 【0019】In the embodiment described in Figures 1 and 2 above, an example was described in which a non-terrestrial network using a geosynchronous orbit or low-earth orbit communication satellite 3000 is used as the communication network for sending and receiving information between the integrated control system 2000 and the unmanned vessel system 1000. However, the present invention is not limited to this, and a non-terrestrial network using an unmanned aerial vehicle called a HAPS (High Altitude Platform Station) can also be used. In this case, for example, an unmanned aerial vehicle that circles at an altitude of about 8 to 50 km can be used. Furthermore, as the communication network for sending and receiving information between the integrated control system 2000 and the unmanned vessel 1010, it is also possible to use a communication network that directly connects the ground base station 4000 to the unmanned vessel 1010 via wireless communication, without going through the communication satellite 3000 or HAPS. Note that the ground base station 4000 is not limited to a stationary fixed base station, but may also consist of a mobile base station. 【0020】 (A-1-3. Overview of Cooperative System 5000 and External System 6000) Figure 3 shows an example of cooperative system 5000 and external system 6000. As shown in Figure 3, control system 1, which has an unmanned vessel system 1000 and a central control system 2000, is connected to cooperative system 5000 and external system 6000, respectively, via a network. 【0021】 As shown in Figure 3, the cooperative system 5000 includes multiple heterogeneous systems capable of acquiring information about the object being searched for, 7000. For example, the cooperative system 5000 may include a high-orbit geostationary satellite monitoring system 5100 capable of acquiring optical images, SAR images, and other measurement data that can be measured from geostationary satellites, including the object 7000, using a high-orbit geostationary satellite (GEO). The cooperative system 5000 may also include a low-orbit satellite monitoring system 5200 capable of acquiring optical images, SAR images, and other measurement data that can be measured from orbiting satellites, including the object 7000, using a low-orbit satellite (LEO). 【0022】 Furthermore, the cooperative system 5000 may include an aircraft monitoring system 5300 capable of acquiring optical images, SAR images, laser measurement data, radar measurement data, and other measurement data that can be measured from an aircraft, including the object 7000, using an aircraft. The aircraft used in the aircraft monitoring system 5300 can include various aircraft flying at altitudes lower than the stratosphere, HAPS flying in the stratosphere, and any other aircraft. Additionally, the system may include a maritime monitoring system 5500 capable of acquiring optical images, laser measurement data, radar measurement data, and other measurement data that can be measured from a vessel, including the object 7000 located at sea, using measurement devices mounted on ships moving on the sea or on floating buoys floating on or under the sea. 【0023】 Furthermore, the cooperative system 5000 may include an underwater monitoring system 5600 capable of acquiring measurement information (such as acoustic measurement information) regarding objects 7000 present in the sea using measuring devices mounted on submersibles that can move underwater, underwater floating buoys installed underwater, surface floating buoys that float on the sea surface, or drop buoys that are dropped onto or into the sea from aircraft or ships, or seabed buoys installed on the seabed. In addition, the cooperative system 5000 may include a ship operation monitoring system 5400 (e.g., an AIS system) that acquires identification information and operational status information of ships navigating in the ocean area. 【0024】 External system 6000 is a system that includes an environmental information provision system that provides weather information (such as wind, rain, snow, clouds, fog, and wave height) for the area where the unmanned vessel system 1000 is deployed and its surrounding areas. External system 6000 may also be an MDA system that provides oceanographic information such as ocean currents and tidal current velocity, direction, and position, in addition to weather information. External system 6000 may further include information on the altitude and position of the sun and the altitude and position of the moon. 【0025】The external system 6000 may also include an information provision system that provides information such as navigation route information (route position, traffic permit information for each time period, traffic congestion forecast information, etc.) in the area including the area to be searched, and communication infrastructure information such as areas that can be connected to a communication network. 【0026】 (A-1-4. Cooperative System 5000) Figure 4 shows an example of an implementation image of the cooperative system 5000 in real space. As shown in Figure 4, the various systems of the cooperative system 5000 can measure areas on or under the sea, acquire measurement data, and detect target objects 7000. 【0027】 Furthermore, each system in the cooperative system 5000 is capable of measuring areas on or under the sea outside the predetermined search area explored by the unmanned vessel system 1000. The high-orbit satellite monitoring system 5100, low-orbit satellite monitoring system 5200, and aircraft monitoring system 5300, which measure areas on the sea from above, can measure a wider area the higher the altitude of their measurement positions. Also, the range of measurement varies depending on the type of measurement sensor used by the other systems. Therefore, the measurement area by the cooperative system 5000 may include part or all of the search area of ​​the unmanned vessel system 1000, but the cooperative system 5000 can measure at least the area outside the search area of ​​the unmanned vessel system 1000. 【0028】 (A-2. Unmanned Vessel System 1000) Next, the system configuration of the unmanned vessel system 1000 according to one embodiment of the present invention will be described with reference to Figures 5 to 7. 【0029】(A-2-1. Overview of the Unmanned Vessel System 1000) Figure 5 is a configuration diagram showing the Unmanned Vessel System 1000, which is composed of multiple unmanned vessels. As shown in Figure 5, the Unmanned Vessel System 1000 is composed of one or more groups (1000a, 1000b), and each group consists of multiple unmanned vessels 1010 that can communicate with each other. Furthermore, the multiple unmanned vessels 1010 that make up each group are configured to play the role of a master unit 1001 that can wirelessly communicate with the communication satellite 3000, or a slave unit 1002 that can communicate directly or indirectly with the master unit 1001. The master unit 1001 communicates with the communication satellite 3000, aggregates information collected from the multiple slave units 1002 and transmits it to the communication satellite 3000, and has the function of directly or indirectly transmitting information related to operation commands acquired from the communication satellite 3000 and information it generates itself to each slave unit 1002. 【0030】 Group 1000a, shown in Figure 5, comprises a primary connected slave unit 10021 that communicates with the master unit 1001, a secondary connected slave unit 10022 that communicates with the primary connected slave unit 10021, and a tertiary connected slave unit 10023 that communicates with the secondary connected slave unit 10022. Each slave unit (primary connected slave unit 10021, secondary connected slave unit 10022, and tertiary connected slave unit 10023) has the function of relaying information received from other master units 1001 or slave units 1002 to other master units 1001 or slave units 1002, thereby forming a communication network between the master unit 1001 and the multiple slave units 1002. 【0031】 Figure 5 shows a group configuration having a master unit 1001 and a slave unit 1002, but it is not limited to this configuration. A group 1000 of unmanned vessels 1010 can consist of multiple unmanned vessels 1010 connected to each other by a network that enables wireless communication directly or indirectly. 【0032】 (A-2-2. Configuration of the Unmanned Vehicles 1010 Constituting a Group) Figure 6 shows an example of the formation of the unmanned vehicle system 1000 deployed on the sea. In the example shown in Figure 6, when multiple unmanned vehicles 1010 are made to perform a search according to the search plan, the formation of a group composed of multiple unmanned vehicles 1010 and the communication connection relationships are shown. 【0033】Group 1000a, shown in Figure 6, comprises one master unit 1001 and multiple slave units 1002. Furthermore, the master unit 1001 and the multiple slave units 1002 are connected via wireless communication, as shown by the solid lines, thereby forming a wireless communication network at sea. Each slave unit 1002 includes a primary connected slave unit 10021 that wirelessly connects to the master unit 1001, and a secondary connected slave unit 10022 that wirelessly connects to the primary connected slave unit 10021. 【0034】 In this embodiment, the number of relays by the slave units 1002 when forming a group is not limited, and it may include third-level, fourth-level, or higher-level connected slave units. The primary connected slave unit 10021 shown in Figure 6 has the function of relaying the transmission and reception of information between the master unit 1001 and the secondary connected slave units 10022, thereby enabling the exchange of information between the master unit 1001 and multiple secondary connected slave units 10022. 【0035】 Furthermore, the number of secondary connection slave units 10022 that wirelessly connect to the primary connection slave unit 10021 is not limited to one. Multiple secondary connection slave units 10022 can be wirelessly connected to the primary connection slave unit 10021, thereby forming a tree-like communication network in which multiple unmanned vessels 1010 branch off within group 1000a. In addition, since there is an upper limit to the wireless communication distance between each unmanned vessel 1010, the position of at least one of the two unmanned vessels 1010 that communicate wirelessly with each other, for example, the master unit 1001 and the primary connection slave unit 10021, and the primary connection slave unit 10021 and the secondary connection slave unit 10022, is controlled so that the relative distance between the unmanned vessels 1010 is maintained within the range of the communication upper limit relative distance included in the monitoring plan as shown in Figure 11 (for example, about 1.5 km). 【0036】 Furthermore, if the relative distance between the two unmanned vessels 1010 increases and the other unmanned vessel 1010 moves outside the communication range, wireless communication between them will become impossible, and control commands from the central control system 2000 will not be able to be transmitted. Therefore, it is desirable for the two unmanned vessels 1010 that are connected to each other to perform self-position control to maintain the relative distance between them within the communication range, with a higher priority than other control functions. 【0037】 On the other hand, the relative distance between unmanned vessels 1010 that do not communicate wirelessly with each other does not require the maintenance of the communication connection described above. However, in order to efficiently search for the target object 7000, which is the objective of the unmanned vessel system 1000, it is preferable for each unmanned vessel 1010 to maintain an appropriate distance so that the measurement ranges of the measurement sensors of each unmanned vessel 1010 do not overlap, or overlap to a moderate degree, rather than being too close together and having most of the measurement ranges of the measurement sensors overlap. Therefore, the relative distance between unmanned vessels 1010 that do not communicate with each other is controlled with a relatively lower priority so as to maintain a preset steady-state relative distance (for example, about 1 km). This control to maintain the steady-state relative distance can be achieved by applying, for example, a control based on the Boids algorithm. 【0038】 Furthermore, if the relative distance between the unmanned vessels 1010 becomes too close and there is a possibility of collision, position control can be performed to increase the relative distance with a relatively high priority in order to avoid a collision and prevent damage to the unmanned vessels 1010. 【0039】 As described above, control to maintain the relative distance between unmanned vessels 1010 that communicate with each other within the communication range, and avoidance control to avoid collisions with other unmanned vessels approaching at close range are executed with relatively high priority, while control to maintain the relative distance between unmanned vessels 1010 that do not communicate with each other is executed with relatively low priority. 【0040】 (A-2-3. Configuration of Unmanned Vehicle 1010) Figure 7 is a functional block diagram showing the functional configuration of the unmanned vehicle 1010. Although Figure 7 describes the functional block diagram of the unmanned vehicle 1010, the master unit 1001 and the slave unit 1002 of the unmanned vehicle 1010 can both implement the same functions as shown in Figure 7. The unmanned vehicle 1010 is equipped with a measurement unit 1100, a self-state determination unit 1200, a navigation unit 1300, a communication unit 1400, a determination unit 1500, and a recording unit 1600. 【0041】The measurement unit 1100 is a functional unit that uses a measurement sensor 1110 to detect objects 7000 that exist within the measurable range on or under the sea surrounding the unmanned vessel 1010, and acquires measurement information about the objects 7000. The measurement unit 1100 comprises a measurement sensor 1110 and a measurement control unit 1120. 【0042】 The measurement sensor 1110 may include one (monocular) or more electro-optical sensors for acquiring image data on or under the sea, optical sensors such as optical cameras, infrared sensors (IR sensors), and stereo cameras, laser sensors such as LiDAR for acquiring point cloud data, optical distance measuring sensors such as ToF sensors (Time of Flight sensors), and radar sensors for detecting millimeter waves and microwaves. By measuring the area around the unmanned vessel 1010, the measurement sensor 1110 acquires measurement data for 7000 objects within the measurable range of a two-dimensional plane on the sea. Furthermore, each of the above sensors can be used as a distance measuring sensor to measure the distance to an object based on the measurement data. 【0043】 Furthermore, the measurement sensor 1110 may also have an acoustic wave sensor (also called an acoustic wave measurement unit) that includes a sonar that utilizes sound waves such as ultrasound, in addition to the sensors described above. The acoustic wave sensor can acquire measurement data of 7000 objects within the measurable range in the three-dimensional space underwater. It can also be used not only underwater but also in the air above the water. When the acoustic wave sensor is used in the air, it can be used as a distance measuring sensor to measure the distance to the object being measured by measuring the sound waves that are reflected back from the object after being generated. When the acoustic wave sensor is used underwater, it may be either an active sonar that generates sound waves and measures the sound waves that resonate off objects underwater, or a passive sonar that measures the sound emitted from objects underwater. The active sonar can be composed of, for example, a side-scan sonar, a multi-beam sonar, or a single-beam sonar. The acoustic wave sensor may also be composed of a USBL transceiver or an acoustic communication modem. 【0044】Further, the measurement control unit 1120 operates a sensor attitude change device capable of changing the attitude of the measurement sensor 1110 to control at least one of the attitude angles around the three axes of the measurement sensor 1110 with respect to the unmanned boat 1010. Also, for example, when the measurement sensor is an optical sensor, the measurement control unit 1120 can adjust the frame rate, shutter speed, and the like. When the measurement sensor is a laser sensor, the measurement control unit 1120 can adjust the output of the irradiated laser. When the measurement sensor is a radar sensor, the measurement control unit 1120 can adjust the output of millimeter waves or microwaves. Further, the measurement control unit 1120 can adjust the measurement sensitivity of the measurement sensor to an arbitrary control amount. When the measurement sensor is an optical sensor, the measurement control unit 1120 can change the zoom amount and resolution of the optical sensor to an arbitrary control amount. 【0045】 Next, the own - 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 and external states of the unmanned boat 1010. The navigation - state determination unit 1210 determines state quantities related to the navigation state of the own vehicle, such as the position (two - dimensional or three - dimensional) of the own vehicle, moving speed, heading direction, moving direction, moving acceleration / deceleration, turning speed, and other navigation - state related state quantities. The internal - state determination unit 1220 determines the remaining energy amount or fuel amount of the battery mounted on the own vehicle, the movable distance calculable from the remaining energy amount or fuel amount, temporary abnormal states (such as temperature abnormality, communication abnormality, etc.) of the devices mounted on the own vehicle, and the failure state of the devices. 【0046】In addition, the external state determination unit 1230 can determine the communication quality status such as the communication intensity (dB value, etc.), communication speed, and communication delay of wireless communication with other unmanned boats 1010 within the unmanned boat system 1000, or wireless communication with the unified control system 2000 via a communication satellite 3000 or a ground base station 4000, or the sea state (wave height, wave speed, sea current speed, sea current direction, tidal current speed, tidal current direction), weather state (wind speed, wind direction, air pressure, temperature, humidity), weather condition (fog, thunder, rainfall, snowfall, hail, sleet, cloudiness, etc.), seawater state (seawater temperature, seawater density, salinity concentration, Ph value, presence or absence of algal beds, etc.), sun-related information (sun position (altitude, azimuth, trajectory), backlight, direct light, solar radiation amount), and other states (moon position (altitude, azimuth, trajectory, moon age), ionospheric disturbance (solar flare, etc.)) around the own boat. 【0047】 The method for determining the position, moving speed, moving direction, and acceleration / deceleration speed of the own boat by the navigation state determination unit 1210 is not particularly limited. For example, GNSS (Global Navigation Satellite System), GPS (Global Positioning System), RTK-GNSS (Real Time Kinematic - Global Navigation Satellite System), etc. can be used to determine the position, moving speed, and moving direction of the own boat at the current time. Here, the own position information includes at least two-dimensional coordinate information (e.g., latitude, longitude) in a planar view, and preferably includes three-dimensional coordinate information including altitude information. Also, the acceleration / deceleration can be calculated based on the amount of change in the determined moving speed over time. 【0048】 In addition, the method for measuring the heading direction of the own boat can determine the heading direction of the own boat at the current time using, for example, a geomagnetic sensor, a GNSS compass, a SLAM technology using the seabed shape, etc. The heading direction includes at least the attitude angle (azimuth) in a planar view around the Z axis, and preferably may be attitude information around the three axes of the X axis, Y axis, and Z axis. Also, the turning speed can be calculated based on the amount of change in the determined heading direction information over time. 【0049】Next, the navigation unit 1300 comprises a thrust generation unit 1310, an attitude control mechanism 1320, and a navigation control unit 1330, and is a functional unit that navigates the aircraft in any direction according to operation commands received via the communication unit 1400. The thrust generation unit 1310 can be made of any means capable of generating thrust, and as an example, it can be made of a propeller driven using the power of an engine or electric motor. The thrust generation unit 1310 can also be made of a sail that generates thrust by receiving wind, or it can be made of a wave glider that generates thrust by receiving wave force. 【0050】 The attitude control mechanism 1320 consists of a rudder plate on the aircraft and a propeller attitude change mechanism that can change the attitude angle of the propeller (mainly the yaw angle around the Z axis). By changing these angles, the aircraft's nose direction (yaw angle) can be controlled. In addition, the attitude angles of the aircraft's roll angle around the X axis and pitch angle around the Y axis can also be controlled by a center of gravity position change mechanism that changes the position of heavy objects inside the aircraft using actuators. 【0051】 Furthermore, the navigation control unit 1330 is a functional unit that controls the aircraft's navigation operation by controlling the thrust generation unit 1310 and the attitude control mechanism 1320. The navigation control unit 1330 has one or more processors, such as a programmable processor (e.g., a central processing unit (CPU), MPU, or DSP), and includes a processing unit that can access 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. 【0052】 The processing unit includes a control module configured to control the aircraft's navigation state. For example, the control module adjusts the aircraft's position on the sea surface, speed, acceleration / deceleration, heading, turning speed, and attitude angles around the three axes. In other words, the navigation control unit 1330 controls the aircraft's navigation by causing it to perform various actions such as moving forward, backward, accelerating, decelerating, and turning. 【0053】Next, the communication unit 1400 comprises an inter-unmanned vessel communication unit 1410 and a central control communication unit 1420, and is a functional unit that communicates with other unmanned vessels 1010 within the unmanned vessel system 1000 and the central control system 2000. The inter-unmanned vessel communication unit 1410 is equipped with a communication antenna used for the maritime wireless communication network and communicates with other unmanned vessels 1010 within the unmanned vessel system 1000. The central control communication unit 1420 is equipped with a satellite communication antenna capable of communicating with the communication satellite 3000, or a communication antenna capable of communicating with the ground base station 4000, and communicates with the central control system 2000 via the communication satellite 3000 or the ground base station 4000. In addition to the above-mentioned communication units, the communication unit may also include a communication unit equipped with an AIS antenna or a VHF antenna that communicates with external surveillance vessels or AIS base stations. 【0054】 Next, the determination unit 1500 is a functional unit that performs data processing such as primary processing and data compression of measurement data acquired by the measurement sensor 1110. For example, the determination unit 1500 can perform primary processing to process the raw data (measurement data) after measurement acquired by the measurement sensor 1110 and generate transmission data for wireless transmission from the unmanned boat system 1000 to the central control system 2000. Furthermore, in order to reduce the transmission load when wirelessly transmitting the transmission data from the unmanned boat system 1000 to the central control system 2000, the determination unit 1500 can perform data compression processing to compress the raw data (measurement data) after measurement and generate transmission data. 【0055】 Furthermore, the determination unit 1500 can interpret the state of the object 7000 by performing primary processing on the measurement data, and can determine the presence or absence of a detected object, the size of the detected object, and so on. It may also have a function to determine whether or not to transmit measurement data and data for transmission from the unmanned vessel system 1000 to the integrated control system 2000, or to select the data to be transmitted, based on the interpretation results. 【0056】Next, the recording unit 1600 comprises a measurement data recording unit 1610, a self-operated machine status recording unit 1620, and a judgment information recording unit 1630. The measurement data recording unit 1610 records the measurement data measured by the measurement unit 1100. The self-operated machine status recording unit 1620 records various status information about the self-operated machine determined by the self-operated machine status determination unit 1200. The judgment information recording unit 1630 records various judgment information determined by the determination unit 1500. 【0057】 (A-3. Description of the Integrated Control System 2000) Next, an integrated control system 2000 according to one embodiment of the present invention will be described using Figures 8 to 10. 【0058】 (A-3-1. Overview of the Integrated Control System 2000) First, the functions and contents of the Integrated Control System 2000 will be explained using Figure 8. Figure 8 is a functional block diagram showing the functional configuration of the Integrated Control System 2000. As shown in Figure 8, the Integrated Control System 2000 comprises a heterogeneous system integrated management unit 2100, an unmanned vessel system management unit 2200, a user interface unit 2300, a data transmission and reception management unit 2400, a data recording management unit 2500, and a maintenance and operation management unit 2600. 【0059】 (A-3-1-1. Heterogeneous System Management Unit 2100) The Heterogeneous System Management Unit 2100 is a functional unit that centrally manages multiple heterogeneous systems, such as the unmanned vessel system 1000 and the cooperative system 5000. It acquires various information such as measurement data and operating status from multiple heterogeneous systems and manages the operation of each system. The functions of the Heterogeneous System Management Unit 2100 will be described later. 【0060】 (A-3-1-2. Unmanned Vehicle System Management Unit 2200) The Unmanned Vehicle System Management Unit 2200 has the function of generating a detailed search plan by the unmanned vessel 1010, including the formation and operation of the unmanned vessel system 1000, in advance before the search is executed, or updating it during the execution of the search work. 【0061】The unmanned vessel system management unit 2200 is a functional unit that generates a detailed search plan, including the formation and operation of the unmanned vessel system 1000, based on the overall search plan received from, for example, the heterogeneous system management unit 2100, before executing the search. The detailed search plan can include not only the search for objects in the surface area, but also the search plan for objects 7000 in the underwater area. 【0062】 Furthermore, the unmanned vessel system management unit 2200 can control the operation of the unmanned vessel system 1000 to search for an object, and if an object is found, it can record the object's measurement data and notify the user. In addition, the unmanned vessel system management unit 2200 can control not only the search operation to find an object in the target area, but also actions related to tracking the object after it has been found. 【0063】 Furthermore, when the Unmanned Vehicle System Management Unit 2200 receives an updated overall search plan from the Heterogeneous System Management Unit 2100, it can also update the detailed search plan, including the formation and operation of the Unmanned Vehicle System 1000, during the execution of the search work, based on the updated overall search plan. In addition, the Unmanned Vehicle System Management Unit 2200 can grasp the progress of the search results against the detailed search plan based on the information received from the Unmanned Vehicle System 1000. The detailed functions of the Unmanned Vehicle System Management Unit 2200 will be described later. 【0064】 (A-3-1-3. User Interface Unit 2300) The User Interface Unit 2300 has the function of displaying and outputting various information generated by the heterogeneous system management unit 2100 and the unmanned vessel system management unit 2200, various information transmitted and received by the data transmission and reception management unit 2400, and various information recorded in the data recording management unit 2500 to the user, and receiving input information from the user. The User Interface Unit 2300 comprises a display output unit 2310 and a user input reception unit 2320. 【0065】The display output unit 2310 is a functional unit that displays and outputs various information generated by the heterogeneous system management unit 2100 and the unmanned vessel system management unit 2200, various information transmitted and received by the data transmission and reception management unit 2400, and various information recorded in the data recording management unit 2500 to the user. The user input reception unit 2320 is a functional unit that receives input information from the user. 【0066】 (A-3-1-4. Data transmission and reception management unit 2400) The data transmission and reception management unit 2400 is a functional unit that transmits and receives information between the integrated control system 2000 and the outside. The data transmission and reception management unit 2400 comprises an unmanned vessel operation command transmission unit 2410, an external information transmission unit 2420, an unmanned vessel information receiving unit 2430, and an external information receiving unit 2440. 【0067】 The unmanned vessel operation command transmission unit 2410 is a functional unit that transmits operation commands to the unmanned vessel system 1000 generated by the central control system 2000. The external information transmission unit 2420 is a functional unit that transmits various information to the external cooperative system 5000 and other systems. The unmanned vessel information receiving unit 2430 is a functional unit that receives information such as measurement data and operating status from the unmanned vessel 1010 by the unmanned vessel system 1000. The external information receiving unit 2440 is a functional unit that receives various information from the external cooperative system 5000 and other systems. 【0068】 (A-3-1-5. Data Recording Management Unit 2500) The Data Recording Management Unit 2500 is a functional unit that records and manages various information generated by the heterogeneous system management unit 2100 or the unmanned vessel system management unit 2200, or information of decision results, or various information transmitted or received by the data transmission / reception management unit 2400, or information displayed and output by the user interface unit 2300, or information received from the user. 【0069】 The data recording and management unit 2500 can record, in particular, information on the discovery history of objects from past searches by the unmanned vessel system 1000, measurement data acquired from the unmanned vessel system 1000, and the results of statistical processing of the discovery history information of objects processed by the unmanned vessel system management unit 2200. 【0070】 (A-3-1-6. Maintenance and Operation Management Department 2600) The Maintenance and Operation Management Department 2600 is a functional department that manages maintenance and upkeep, including repair, diagnosis, and maintenance of the multiple unmanned vessels 1010 and other equipment that constitute the unmanned vessel system 1000. In addition, the Maintenance and Operation Management Department 2600 may also have a resource management function that grasps the current status of resources such as equipment, personnel, and facilities necessary for the operation of the unmanned vessel system 1000 and provides instructions for their allocation, not limited to maintenance. Furthermore, the Maintenance and Operation Management Department 2600 may also have an operation monitoring function that grasps the operating status of the multiple unmanned vessels 1010 of the unmanned vessel system 1000 and provides instructions regarding their operation. 【0071】 Furthermore, the Maintenance and Operations Management Department 2600 may also have the function of managing tasks necessary for the operation of the unmanned vessel system 1000, including pre- and post-operation tasks such as arranging and transporting necessary resources such as equipment, personnel, and facilities, recovering malfunctioning aircraft, repairing and storing them, replenishing batteries, and recovering measurement data. 【0072】 (A-3-2. Configuration of the Heterogeneous System Management Unit 2100) Next, the Heterogeneous System Management Unit 2100 will be described using Figure 9. Figure 9 is a functional block diagram showing the functional configuration of the Heterogeneous System Management Unit 2100. As shown in Figure 9, the Heterogeneous System Management Unit 2100 comprises a pre-information acquisition unit 2110, an overall pre-plan determination unit 2120, an object information interpretation unit 2130, an object motion prediction unit 2140, and an overall plan update unit 2150. 【0073】 (A-3-2-1. Pre-information acquisition unit 2110) The pre-information acquisition unit 2110 is a functional unit that acquires information in advance about various search conditions when searching for the target object 7000, as well as information about different systems used for the search. The pre-information will be explained below with reference to Figure 11. Figure 11 is a diagram showing an example of the pre-information acquired by the pre-information acquisition unit 2110. 【0074】As shown in Figure 11, the prior information acquired by the prior information acquisition unit 2110 includes search conditions and identification information of the cooperative system. The search conditions can be received from the user via the user terminal device 8000 or the user interface unit 2300. 【0075】 The search conditions include information about the object 7000 being searched by the cooperative system 5000 and the unmanned vessel system 1000, information about the search area, information about the search time, and information about the search objective. The information about the object 7000 includes information that can identify the type of object 7000, such as information about ships and divers. The information about the search area includes information that can identify the two-dimensional or three-dimensional location and extent of the search area on or under the sea. 【0076】 The search time includes identifiable information such as the date and time, duration, time zone, and start and end times of the search. The search objective information includes information that allows you to define search objective values, such as the search rate, which indicates the percentage of the area that has been searched relative to the area to be searched. 【0077】 Next, the identification information for the cooperative systems includes the High Earth Orbit Satellite Surveillance System 5100 (High Earth Orbit Geostationary Satellites GEO), the Low Earth Orbit Satellite Surveillance System 5200 (Low Earth Orbit Orbit Satellites LEO), the Aircraft Surveillance System 5300 (including unmanned aerial vehicles), the Ship Operation Surveillance System 5400 (including ASI systems), the Maritime Surveillance System 5500, and the Underwater Surveillance System 5600. 【0078】 (A-3-2-2. Overall Pre-Planning Unit 2120) Next, the Overall Pre-Planning Unit 2120 is a functional unit that determines the pre-exploration plan for the entire heterogeneous system, including the unmanned vessel system 1000 and the cooperative system 5000. The overall pre-planning will be explained below using Figures 12 and 13. 【0079】Figure 12 shows an example of an overall pre-plan determined by the overall pre-plan determination unit 2120. As shown in Figure 12, the overall pre-plan includes information on the search plan for each heterogeneous system, including the unmanned vessel system 1000 and the cooperative system 5000. In the example shown in Figure 12, information on the search area, search time, and type of measurement sensor to be used is included for each heterogeneous system. 【0080】 Figure 13 shows the search area included in the overall pre-plan determined by the overall pre-plan determination unit 2120. In particular, Figure 13 shows the location and range of the area in which the unmanned vessel system 1000 and multiple cooperative systems 5000 (high orbit satellite monitoring system 5100, low orbit satellite monitoring system 5200, aircraft monitoring system 5300, maritime monitoring system 5500, and underwater monitoring system 5600) conduct their search, in map format. As shown in Figure 13, the measurement area or search area (hereinafter also referred to as the "second area") of each cooperative system 5000 is set to include at least a part of the area outside the target area searched by the unmanned vessel system 1000 (hereinafter also referred to as the "first area"). Therefore, each cooperative system 5000 can acquire measurement data of objects 7000 that exist in areas outside the target area searched by the unmanned vessel system 1000. 【0081】 In the example shown in Figure 13, for instance, the high-orbit satellite monitoring system 5100 acquires measurement data using high-orbit satellites, resulting in a wider measurement range compared to other systems, acquiring measurement data for a wide area that includes the measurement ranges of other systems. However, because the high-orbit satellite monitoring system 5100 performs measurements from a higher altitude than other monitoring systems, the resolution of the measurement data is relatively lower. The low-orbit satellite monitoring system 5200 can measure areas over the sea along the orbit of low-orbit satellites. The other aircraft monitoring systems 5300 can monitor any area over the sea by changing the flight area of ​​the aircraft. The maritime monitoring system 5500 and the unmanned vessel system 1000 can also monitor any area over the sea. The underwater monitoring system 5600 can also monitor any underwater area. 【0082】Furthermore, it is possible to receive user-specified input regarding the contents of the overall pre-plan shown in Figures 12 and 13 via the user interface unit 2300 or the user terminal device 8000. In that case, an overall business plan corresponding to the user-specified input will be generated. The user interface unit 2300 or the user terminal device 8000 also has the function of receiving various command inputs, such as coordination of search by multiple cooperative systems, coordination of tracking of target objects 7000, coordination of reporting the detection status of target objects 7000, direct operation of the unmanned vessel 1010, and relative distance adjustment to maintain the relative distance between the mother ship on which the user is aboard and the unmanned vessel 1010 being directly operated within a predetermined distance range, and the overall pre-plan may be determined based on the received command inputs. 【0083】 (A-3-2-3. Object Information Interpretation Unit 2130) Next, the object information interpretation unit 2130 is a functional unit that performs object detection and determination based on measurement data acquired from the cooperative system 5000. The object information interpretation unit 2130 comprises a heterogeneous system measurement data acquisition unit 2131, an environmental disturbance information acquisition unit 2132, an object detection determination unit 2133, and an object detection confirmation unit 2134. 【0084】 The heterogeneous system measurement data acquisition unit 2131 is a functional unit that acquires measurement data, etc., from various systems included in the cooperative system 5000. For example, the heterogeneous system measurement data acquisition unit 2131 acquires measurement data, etc., from the heterogeneous systems shown in Figure 12 (high orbit satellite monitoring system 5100, low orbit satellite monitoring system 5200, aircraft monitoring system 5300, ship operation monitoring system 5400, maritime monitoring system 5500, and underwater monitoring system 5600). In other words, the heterogeneous system measurement data acquisition unit 2131 allows each cooperative system 5000 to acquire measurement data concerning objects 7000 located in areas outside the target area (first area) of the search conducted by the unmanned vessel system 1000. 【0085】Here, the information acquired by the heterogeneous system measurement data acquisition unit 2131 may include measurement data measured by each cooperative system, processed data obtained by processing said measurement data, or detection judgment information obtained by determining whether the object 7000 has been detected. The detection judgment information may include, for example, the type of object, detection location, detection time, direction of movement, and speed of movement. 【0086】 The environmental disturbance information acquisition unit 2132 is a functional unit that acquires environmental disturbance information in advance or in real time in the target area (second area) measured by each cooperative system 5000 and the target area (first area) explored by the unmanned vessel system 1000. Environmental disturbance information includes disturbance information that may affect wireless communication and GNSS carrier wave transmission, such as clouds, fog, high waves, rainfall, snowfall, solar radiation, sea surface temperature, and air temperature. 【0087】 Furthermore, the environmental disturbance information may include environmental disturbances that exert external forces affecting the propulsion performance of the unmanned vessel 1010 (such as wave height, wave speed, speed and direction of ocean currents and tidal currents, wind speed, wind direction, atmospheric pressure and humidity, seawater density, salinity, magnesium concentration, pH value, presence or absence of algae, and plankton concentration). 【0088】 Furthermore, the environmental disturbance information may include environmental disturbances that affect the temperature of the unmanned vessel (such as sea surface temperature, solar radiation, weather, air temperature, humidity, and wind speed). In addition, the environmental disturbance information may include environmental disturbances that affect the sensors of the optical system mounted on the unmanned vessel 1010 (such as solar altitude, azimuth, lunar altitude, azimuth, lunar phase, backlighting, frontlighting, weather, and solar radiation). 【0089】 The environmental disturbance information acquisition unit 2132 can acquire the above-mentioned environmental disturbance information from the external system 6000, but is not limited to this; it may also acquire the above-mentioned environmental disturbance information by interpreting it based on information acquired from the unmanned vessel system 1000. Furthermore, it may also acquire the past history and statistical information of each of the above-mentioned environmental disturbances. 【0090】The object detection and determination unit 2133 is a functional unit that interprets object information regarding objects 7000 present in the target area (second area) measured by each cooperative system 5000, based on measurement data acquired from each cooperative system 5000. The object information determined by the object detection and determination unit 2133 will be explained below using Figure 14. 【0091】 Figure 14 shows an example of object information determined by the object detection and determination unit 2133. In the example shown in Figure 14, the object detection and determination unit 2133 determines object information including whether or not an object 7000 has been detected, the type of object 7000, its size, detection position, detection time, attitude and direction, movement speed, movement direction, and movement trajectory. The detection position includes, for example, information on the two-dimensional or three-dimensional position coordinates on or underwater in the measurement area of ​​the cooperative system 5000. The detection time includes the date and time when the object 7000 was detected. 【0092】 Various calculation methods can be applied to the object detection method of the object detection determination unit 2133. For example, the object detection determination unit 2133 can have a function to switch the cooperative system 5000, which is the source of measurement data used for object detection processing, according to the environmental disturbance information acquired by the environmental disturbance information acquisition unit 2132. For example, if information on clouds floating at high altitudes above the target area of ​​measurement is acquired as environmental disturbance information, the cooperative system 5000, which is the source of measurement data, can be switched to acquire measurement data from the aircraft monitoring system 5300, which takes measurements from low altitudes, or from the maritime monitoring system 5500, which takes measurements from ships or floating buoys at sea, instead of the high-orbit satellite monitoring system 5100 or low-orbit satellite monitoring system 5200, which take measurements from high altitudes. As another example, if high wave levels are detected as environmental disturbance information in the measurement area, the cooperative system 5000, which is the source of the measurement data, can be switched from the maritime monitoring system 5500, which is affected by wave height, to the high-orbit satellite monitoring system 5100, the low-orbit satellite monitoring system 5200, or the aircraft monitoring system 5300, which are less affected by wave height. 【0093】Another example of the object detection method by the object detection and determination unit 2133 is that if object information cannot be interpreted due to insufficient measurement data acquired from any of the systems of the cooperative system 5000, the object detection and determination unit 2133 may have a function to request the cooperative system 5000 to reacquire measurement data. For example, if, among the object determination items shown in Figure 14, it is possible to determine whether an object has been detected, but it is not possible to make determinations on other determination items such as type or size due to blurring of the measurement image, missing data, insufficient resolution, etc., the unit can request the cooperative system 5000 to acquire additional measurement data. 【0094】 Next, the object detection and confirmation unit 2134 is a functional unit that confirms the object information read by the object detection and determination unit 2133. The object detection and confirmation unit 2134 can confirm the determination items of the object information using measurement data acquired from a different system than the cooperative system 5000 used for object detection and determination by the object detection and determination unit 2133. For example, the object detection and determination unit 2133 performs an initial determination of the object information based on measurement data acquired from the high-orbit satellite monitoring system 5100, and the object detection and confirmation unit 2134 performs a detailed determination of the determination items of the object information determined by the initial determination, or the determination items of the object information that became indeterminate by the initial determination, based on measurement data acquired from a different system such as the maritime monitoring system 5500, and confirms the object information based on the content of the detailed determination result. In this way, the initial determination by the object detection and determination unit 2133 and the detailed determination by the object detection and confirmation unit 2134 can be performed based on measurement data acquired from different systems. 【0095】As another example, the object detection and confirmation unit 2134 can determine the object information shown in Figure 14 based on measurement data obtained from multiple different types of monitoring systems included in the cooperative system 5000. In this way, when determining object information based on measurement data obtained from multiple types of systems, for example, the object information can be interpreted based on measurement data obtained from different systems such as the high-orbit satellite monitoring system 5100 and the maritime monitoring system 5500, and the interpretation results can be compared to determine the content of the determination items for which the interpretation results match. 【0096】 Next, the object motion prediction unit 2140 is a functional unit that generates intrusion prediction information regarding the predicted entry of the object 7000 into the first area, which is the search area of ​​the unmanned vessel system 1000, from an area outside the first area, based on the object information determined by the object information interpretation unit 2130. The object motion prediction unit 2140 comprises an object motion prediction unit 2141, an unmanned vessel system area entry prediction unit 2142, and an unmanned vessel system area exit prediction unit 2143. 【0097】 The object motion prediction unit 2141 is a functional unit that predicts the future motion of the object 7000 according to the moving object information determined by the object information interpretation unit 2130. For example, the object motion prediction unit 2141 can predict the future movement trajectory and other motions of the object 7000 according to the static state, dynamic state, and history information of the moving object information shown in Figure 14. In addition, the prediction of future movement trajectories and other motions is not limited to static state, dynamic state, and history information, and it is assumed that future movement trajectories and other motions will change depending on the type and size of the object, so it is possible to predict future movement trajectories and other motions by considering the type and size of the object 7000 included in the moving object information. In addition, the type of object can include types such as ships and divers, and furthermore, it can also include type information indicating the type of ship. 【0098】Next, the unmanned vessel system area entry prediction unit 2142 compares the predicted future movement of the predicted object 7000 with the position and range of the search area of ​​the unmanned vessel system 1000 to predict and calculate entry prediction information related to area entry, such as entry position, entry direction, and entry speed into the search area. Furthermore, the unmanned vessel system area exit prediction unit 2143 compares the predicted future movement of the predicted object 7000 with the position and range of the search area of ​​the unmanned vessel system 1000 to predict and calculate information for exiting and after exiting the search area. The entry prediction information will be explained below using Figure 15. Figure 15 is a diagram showing an example of entry prediction information determined by the object movement prediction unit 2140. 【0099】 As shown in Figure 15, the object motion prediction unit 2140 predicts and calculates entry prediction information, including the state when the object 7000 is predicted to enter the first area, the state after entry, and the probability state related to entry. The state when entry includes, for example, the entry position, entry direction, and entry speed of the object 7000 into the first area. The state after entry includes the predicted movement path of the object 7000 after entering the first area and the predicted target position after entry. The probability state related to entry includes the probability of the object 7000 entering the first area, the probability of the object 7000 and the unmanned vessel 1010 encountering each other in the first area, or the probability of the unmanned vessel 1010 detecting and finding the object 7000 in the first area. 【0100】 Figure 15 shows the predicted future movement of an object 7000 when a single object 7000 is detected. However, the object information interpretation unit 2130 may detect multiple objects 7000. In such cases, the object movement prediction unit 2140 can predict and calculate, as entry prediction information, an entry area (an area that can be defined as a range with a certain width, rather than the position of a specific point) when it is predicted that multiple objects 7000 will enter the first area, or a confluence area when it is predicted that multiple objects 7000 will merge in the first area, or whether at least one of the multiple objects is a diversionary marker. 【0101】Furthermore, as shown in Figure 15, the unmanned vessel system area exit prediction unit 2143 predicts and calculates information including the state at the time of exiting the first area and the state after exiting when it is predicted that the object 7000 will exit the first area. The state at the time of exit includes the exit position, exit direction, and exit speed of the object 7000 from the first area. The state after exit includes the predicted movement path outside the first area after exiting the first area, and, if re-entry into the first area is predicted, the re-entry position, re-entry direction, and re-entry speed into the first area. 【0102】 (A-3-2-4. Overall Plan Update Unit 2150) Next, the Overall Plan Update Unit 2150 is a functional unit that updates the overall pre-search plan for the entire heterogeneous system, including the unmanned vessel system 1000 and the cooperative system 5000, which was determined by the Overall Pre-Plan Determination Unit 2120. The Overall Plan Update Unit 2150 updates the overall search plan for the entire heterogeneous system shown in Figures 12 and 13, for example, according to the object information of the object 7000 predicted by the object motion prediction unit 2140 and future approach prediction information. 【0103】 The updated search plan is displayed on the display output unit 2310 of the user interface unit 2300, and is also transmitted to each cooperating system by the external information transmission unit 2420 of the data transmission management unit 2400. 【0104】 (A-3-3. Configuration of the Unmanned Vessel System Management Unit 2200) Next, the Unmanned Vessel System Management Unit 2200 will be described using Figure 10. Figure 10 is a functional block diagram showing the functional configuration of the Unmanned Vessel System Management Unit 2200. As shown in Figure 10, the Unmanned Vessel System Management Unit 2200 includes an information acquisition unit 2210, an environmental disturbance impact determination unit 2220, an unmanned vessel operation determination unit 2230, an object detection unit 2240, and an information output unit 2250. 【0105】(A-3-3-1. Information Acquisition Unit 2210) The Information Acquisition Unit 2210 is a functional unit that acquires search plans for the entire heterogeneous system, including the unmanned vessel system 1000 and the cooperative system 5000, which have been determined or updated by the heterogeneous system overall management unit 2100, as well as predictive information such as approach prediction information. The Information Acquisition Unit 2210 comprises an overall plan acquisition unit 2211, an approach prediction information acquisition unit 2212, and a performance information acquisition unit 2213. 【0106】 The overall plan acquisition unit 2211 has the function of acquiring information on the overall pre-plan determined by the overall pre-plan determination unit 2120, or information on the overall pre-plan updated by the overall plan update unit 2150. 【0107】 The entry prediction information acquisition unit 2212 is a functional unit that acquires entry prediction information, such as that shown in Figure 15, which is calculated by the object motion prediction unit 2140. 【0108】 The performance information acquisition unit 2213 is a functional unit that acquires information regarding the performance specifications of the unmanned vessel system 1000. The performance information acquisition unit 2213 acquires, for example, information regarding the power performance of the unmanned vessel 1010, such as the distance it can travel, its travel speed, its turning speed, and its travel acceleration; information regarding communication performance, such as the distance it can travel and its communication performance (communication speed, communication strength, etc.) between unmanned vessels 1010; measurement performance, such as the distance it can travel using measurement sensors; search performance, such as the search rate (or coverage rate, monitoring density distribution, etc.); and other information regarding malfunctions and abnormalities. 【0109】 Furthermore, the performance information acquisition unit 2213 can acquire information not only about the various performance aspects mentioned above, but also about system resources such as the number of available unmanned vessels 1010 and battery capacity. 【0110】(A-3-3-2. Environmental Disturbance Impact Determination Unit 2220) The Environmental Disturbance Impact Determination Unit 2220 is a functional unit that determines the impact on the performance of the unmanned boat system 1000, which is acquired by the Performance Information Acquisition Unit 2213, in accordance with the environmental disturbance information acquired by the Environmental Disturbance Information Acquisition Unit 2132. The Environmental Disturbance Impact Determination Unit 2220 can determine, in accordance with the latest environmental disturbance information, whether or not environmental disturbances have an impact on the various performance aspects of the unmanned boat system 1000, which performance items are affected by environmental disturbances, the degree of impact on the affected performance items, and the performance that can be achieved considering the degree of impact. 【0111】 For example, the environmental disturbance impact determination unit 2220 can determine the currently achievable performance in terms of movable distance, moving speed, turning speed, moving acceleration, communication distance between unmanned vessels, communication speed, and communication strength, in accordance with the available energy status of the battery, etc., or environmental disturbances that affect the body temperature of the unmanned vessel. 【0112】 Furthermore, the environmental disturbance impact determination unit 2220 can determine the currently achievable performance in terms of the communication range, communication speed, and communication strength between unmanned vessels, in accordance with various disturbance information that may affect wireless communication and GNSS carrier wave transmission. 【0113】 Furthermore, the environmental disturbance impact determination unit 2220 can determine the currently achievable performance in terms of movable distance, moving speed, turning speed, and moving acceleration, in response to environmental disturbances that exert external forces affecting the power performance of the unmanned vessel 1010. 【0114】 Furthermore, the environmental disturbance impact determination unit 2220 can determine the currently achievable performance of the measurement distance by the measurement sensor, in accordance with the environmental disturbances that affect the measurement of the optical system's measurement sensor. 【0115】(A-3-3-3. Unmanned Vehicle Operation Decision Unit 2230) The unmanned vehicle operation decision unit 2230 has the function of determining operation commands for some or all of the multiple unmanned vehicles 1010 included in the unmanned vehicle system 1000. Here, the unmanned vehicle operation decision unit 2230 may generate operation commands not only for a single group as shown in Figure 6, but also for a company composed of multiple groups. The unmanned vehicle operation decision unit 2230 comprises a search operation decision unit 2231, an entry response operation decision unit 2232, a post-entry operation decision unit 2233, and an unmanned vehicle operation confirmation unit 2234. 【0116】 The search operation determination unit 2231 has the function of determining the search operation command for the unmanned vessel system 1000 in the first area. Figure 16 shows an example of the content of the search operation command determined by the search operation determination unit 2231. 【0117】 As shown in Figure 16, the operation command determined by the search operation determination unit 2231 includes information regarding the search target area, search time, number of unmanned vessels 1010, arrangement of unmanned vessels 1010 (including the formation and deployment area of ​​multiple unmanned vessels 1010), movement targets for the unmanned vessels 1010 (including target movement speed, target turning speed, target movement direction, target movement path, target straight-line travel time, and anchoring plan), anchoring plan, search performance targets, and measurement sensors to be used. The search operation command search performance targets can be defined, for example, by target values ​​such as the search rate. 【0118】 Each item of the exploration operation command described above can be generated or updated based on the overall pre-plan information (including the exploration plan for the unmanned vessel system 1000 and the measurement plan for the cooperative system 5000) acquired by the overall plan acquisition unit 2211. In addition, each item of the exploration operation command can be generated or updated based on user-specified input regarding the content of the overall pre-plan (including the exploration plan for the unmanned vessel system 1000 and the measurement plan for the cooperative system 5000) received via the user interface unit 2300 or the user terminal device 8000. 【0119】 Furthermore, each item of the search operation command described above can also be specified and input from the user via the user interface unit 2300 or the user terminal device 8000. 【0120】 Furthermore, each item of the search operation command described above can also be calculated based on the object information of the object 7000 (for example, the various information shown in Figure 14) and the entry prediction information (for example, the various information shown in Figure 15). 【0121】 Furthermore, each item of the search operation command described above can be calculated based on the performance information that can be achieved considering environmental disturbances determined by the environmental disturbance impact determination unit 2220, and the performance specification information of the unmanned vessel system 1000 acquired by the performance information acquisition unit 2213. In this case, the target movement path included in the movement target of the unmanned vessel 1010 is set within the performance range of the movement distance. As another example, the arrangement of the unmanned vessels 1010 (including the formation and deployment area of ​​multiple unmanned vessels 1010) is set so that each unmanned vessel 1010 is located within the communication range of communication between the unmanned vessels 1010. As yet another example, the target value of the search rate is calculated based on the measurable distance measured by the measurement sensor. 【0122】 Furthermore, the search operation determination unit 2231 may also issue operation commands to recover performance reduced by environmental disturbances, based on performance information that can be achieved considering environmental disturbances, as determined by the environmental disturbance impact determination unit 2220. For example, the movement path, measurement direction by the measurement sensor, speed command, turning speed command, and acceleration command can be readjusted. In this case, for example, the movement path can be readjusted to a path that utilizes ocean currents, wind currents, or a movement path that prioritizes passing through areas with low search rates. 【0123】Furthermore, the search operation determination unit 2231 readjusts the target movement path, inter-aircraft distance, and aircraft number increase / decrease commands based on performance information that can be achieved regarding the movable distance. It also readjusts the inter-aircraft distance and speed command values ​​based on performance information that can be achieved regarding speed. It also readjusts the speed command values ​​and turning speed commands based on performance information that can be achieved regarding turning speed. It also readjusts the inter-aircraft distance, acceleration command values, and aircraft number increase / decrease commands based on performance information that can be achieved regarding acceleration. Furthermore, it readjusts the inter-aircraft distance, target movement path, acceleration command, and aircraft number increase / decrease commands based on performance information that can be achieved regarding the communication range. It can also readjust the inter-aircraft distance command based on performance information that can be achieved regarding communication speed and communication strength. In addition, it can readjust the target movement path, measurement direction command, and aircraft number increase / decrease commands based on performance information that can be achieved regarding the measurable distance from the measurement sensor. 【0124】 In addition to the above, when a remote control command is transmitted to the unmanned vessel 1010 and the operator remotely controls the unmanned vessel 1010 from a control base located on land or on a mother ship, and there are restrictions on the distance between the operator and the unmanned vessel being controlled due to laws and regulations, the placement of the unmanned vessel 1010 can be set so that the unmanned vessel 1010 does not go outside the range of said distance restrictions. 【0125】 The entry response action determination unit 2232 has the function of determining an entry response action to be performed before the target object 7000 enters the search target area (first area) of the unmanned vessel system 1000, based on the entry prediction information acquired by the entry prediction information acquisition unit 2212. 【0126】 In this case, for example, when the unmanned vessel system area entry prediction unit 2142 predicts the entry position or entry area in which one or more objects 7000 will enter the first area, the entry response operation determined by the entry response operation determination unit 2232 includes operation command information for deploying the unmanned vessel 1010 to wait at the entry position or entry area or in the area surrounding the entry position or entry area. 【0127】Next, the post-entry action determination unit 2233 has the function of determining post-entry actions to be performed after the target object 7000 enters the search target area (first area) of the unmanned vessel system 1000, based on the entry prediction information acquired by the entry prediction information acquisition unit 2212. 【0128】 In this case, for example, when the unmanned vessel system area entry prediction unit 2142 predicts that one or more objects 7000 will enter the first area, the post-entry action determination unit 2233 determines action command information for tracking the objects 7000 within the first area. 【0129】 Furthermore, the entry-post action determination unit 2233 may have a function to determine the post-exit action to be performed after the object 7000 has left the search target area (first area) of the unmanned vessel system 1000, based on the entry prediction information acquired by the entry prediction information acquisition unit 2212. 【0130】 In this case, for example, when the unmanned vessel system area exit prediction unit 2143 predicts that one or more objects 7000 will exit the first area, the post-exit action determined by the post-entry action determination unit 2233 includes tracking action command information that tracks the objects 7000 near the boundary within the first area, following the position of the objects 7000 as they move outside the first area. 【0131】 Another example in this case is when the unmanned vessel system area exit prediction unit 2143 predicts that one or more objects 7000 will re-enter the first area after exiting it. In this case, the post-exit action determined by the post-entry action determination unit 2233 includes operation command information for a re-entry response action that causes the unmanned vessel 1010 to wait at the re-entry position, or the re-entry area, or the area surrounding the re-entry position or the re-entry area, as predicted by the unmanned vessel system area exit prediction unit 2143. 【0132】Next, the unmanned vessel operation confirmation unit 2234 is a functional unit that confirms the operation commands determined by the search operation decision unit 2231, the entry response operation decision unit 2232, and the post-entry operation decision unit 2233 described above. For example, it can receive user-specified information regarding operation commands for some or all of the multiple unmanned vessels 1010 from the user interface unit 2300 or the user terminal device 8000, and the unmanned vessel operation confirmation unit 2234 can confirm the operation commands based on the received user-specified information. 【0133】 Furthermore, the unmanned vessel operation confirmation unit 2234 can propose and display the operation commands determined by the search operation decision unit 2231, the entry response operation decision unit 2232, and the post-entry operation decision unit 2233 to the user interface unit 2300 and the user terminal device 8000. It can also receive user-specified information from the user, such as approval or modification requests for the content of the proposed display, and confirm the operation commands based on the received user-specified information. 【0134】 (A-3-3-4. Object Detection Unit 2240) Next, the object detection unit 2240 is a functional unit that detects objects 7000 based on measurement information acquired from the unmanned vessel system 1000 and predicts the movement of the detected objects 7000. The object detection unit 2240 comprises an unmanned vessel measurement information acquisition unit 2241, an object detection determination unit 2242, and an object movement prediction unit 2243. 【0135】 The unmanned vessel measurement information acquisition unit 2241 is a functional unit that acquires measurement data measured by the measurement unit 1100 or judgment results from the judgment unit 1500 in real time from the unmanned vessel system 1000. 【0136】 The object detection and determination unit 2242 is a functional unit that detects objects 7000 present in the first area based on newly acquired measurement data from the unmanned vessel measurement information acquisition unit 2241 and the determination result information from the determination unit 1500, and updates and determines various determination items related to the objects 7000 (such as whether or not objects 7000 are detected, type of object 7000, size, detection position, detection time, attitude direction, movement speed, movement direction, movement trajectory, etc.) as shown in Figure 14. 【0137】The object motion prediction unit 2243 is a functional unit that predicts the future motion of the object 7000 inside and outside the first area based on the judgment results of various judgment items related to the object 7000 that have been updated and judged by the object detection judgment unit 2242. The object motion prediction unit 2243 can calculate prediction information such as the predicted future movement path of the object 7000, predicted passing positions, and predicted target positions. 【0138】 Furthermore, the object motion prediction unit 2243 has the function of comparing the predicted future motion of the object 7000 with the location and range of the search target area (first area) of the unmanned vessel system 1000, and generating or updating exit prediction information including the exit location, exit time, or movement route after exiting the first area. 【0139】 Furthermore, if the object detection unit 2240 performs detection and determination of the object 7000, motion prediction, exit prediction, etc., the aforementioned unmanned vessel motion determination unit 2230 can generate or update motion commands for some or all of the multiple unmanned vessels 1010 based on these determination results and prediction information. 【0140】 (A-3-3-5. Information Output Unit 2250) Next, the information output unit 2250 is a functional unit that displays or transmits to the outside information regarding the approach prediction information generated by the object movement prediction unit 2140, or the operation commands for some or all of the multiple moving objects generated by the unmanned vessel operation determination unit 2230 based on the approach prediction information, etc. The information output unit 2250 comprises an information display output command unit 2251, an operation command output unit 2252, and an information transmission command unit 2253. 【0141】 The information display output command unit 2251 has the function of issuing display output commands to display information acquired by the information acquisition unit 2210, environmental disturbance information determined by the environmental disturbance impact determination unit 2220, information related to operation commands determined by the unmanned vessel operation determination unit 2230, and various information detected by the object detection unit 2240 from the display output unit 2310 or the user terminal device 8000. 【0142】The operation command output unit 2252 is a functional unit that outputs operation commands, which are determined by the unmanned vessel operation determination unit 2230, and which are then transmitted by the unmanned vessel operation command transmission unit 2410 of the data transmission management unit 2400 to some or all of the multiple unmanned vessels 1010 that make up the unmanned vessel system 1000. 【0143】 The Information Transmission Command Unit 2253 is a functional unit that issues information transmission commands to the Cooperative System 5000 via the External Information Transmission Unit 2420 of the Data Transmission and Reception Management Unit 2400, transmitting various pieces of information acquired by the Information Acquisition Unit 2210, environmental disturbance information determined by the Environmental Disturbance Impact Determination Unit 2220, information related to operation commands determined by the Unmanned Vehicle Operation Determination Unit 2230, and various pieces of information detected by the Object Detection Unit 2240. In particular, when the Object Movement Prediction Unit 2243 predicts at least one of the exit position, exit time, or post-exit movement path of an object when it is predicted to exit the first area, the Information Transmission Command Unit 2253 can cause the External Information Transmission Unit 2420 of the Data Transmission and Reception Management Unit 2400 to transmit the exit prediction information to the Cooperative System 5000. 【0144】 (A-3-4. Processing Flow of the Integrated Control System 2000) Next, the unmanned vessel system management unit 2200 of the integrated control system 2000 will be explained using Figure 17. Figure 17 is a flowchart showing an example of the processing flow of the integrated control system 2000. Of the multiple processing steps shown in Figure 17, steps 101 to 103 show the preliminary processing before the measurement operation of the object 7000 is performed across the entire heterogeneous system, and steps 104 to 110 show the processing while the measurement operation of the object 7000 is being performed across the entire heterogeneous system. 【0145】 First, the pre-information acquisition unit 2110 acquires pre-information (step 101). In this step, for example, information about various search conditions when searching for the target object 7000, and information about different systems used for the search are acquired in advance. 【0146】 Next, the overall pre-planning unit 2120 determines the pre-operation plan for the entire heterogeneous system, including the unmanned vessel system 1000 and the cooperative system 5000 (step 102). 【0147】Next, the unmanned vessel operation determination unit 2230 determines the operation command for the unmanned vessel system (step 103). 【0148】 Next, the object information interpretation unit 2130 performs detection and determination of the object based on the measurement data acquired from the cooperative system 5000 (step 104). Details of this step will be described later. 【0149】 Next, the object motion prediction unit 2140 predicts the motion of the unmanned vessel system 1000 in the areas outside and inside the first area, which is the search area, based on the object information determined by the object information interpretation unit 2130 (step 105). Details of this step will be described later. 【0150】 Next, the overall plan update unit 2150 updates the overall pre-search plan for the entire heterogeneous system, including the unmanned vessel system 1000 and the cooperative system 5000, which was determined by the overall pre-plan determination unit 2120, based on the object information of the object 7000 predicted by the object motion prediction unit 2140 and future approach prediction information (step 106). 【0151】 Next, the unmanned vessel operation determination unit 2230 determines operation commands for some or all of the multiple unmanned vessels 1010 included in the unmanned vessel system 1000 (step 107). Details of this step will be described later. 【0152】 Next, the object detection unit 2240 detects the object 7000 based on measurement information acquired from the unmanned vessel system 1000, and performs operations such as predicting the movement of the detected object 7000 (step 108). Details of this step will be described later. 【0153】 Next, the unmanned vessel operation determination unit 2230 updates the operation command for the unmanned vessel system 1000 based on the determination result and prediction information from the object detection unit 2240 (step 109). 【0154】(A-3-5. Processing Flow of Object Information Interpretation Unit 2130) Next, the processing flow of the detection and determination of the object 7000 by the object information interpretation unit 2130 of the heterogeneous system management unit 2100 will be explained using Figure 18. Figure 18 is a flowchart showing an example of the processing flow of the detection and determination of the object 7000 by the object information interpretation unit 2130. In particular, Figure 18 shows the detailed processing flow of step 104 in the flowchart of Figure 17. 【0155】 First, the heterogeneous system measurement data acquisition unit 2131 acquires measurement data from each of the multiple heterogeneous systems included in the cooperative system 5000 (step 201). 【0156】 Next, the environmental disturbance information acquisition unit 2132 acquires environmental disturbance information in advance or in real time in the target area for measurement by each cooperative system 5000 (second area) and the target area for exploration by the unmanned vessel system 1000 (first area) (step 202). 【0157】 Next, the object detection and determination unit 2133 performs a detection and determination of the object 7000 based on measurement data acquired from one of the multiple cooperative systems 5000 (for example, the high-orbit satellite monitoring system 5100) (step 203). 【0158】 Next, depending on whether the object 7000 was detected in step 203, the next processing step to proceed to is determined (step 204). In this step, if it is determined that the object 7000 was not detected, the process proceeds to step 201; on the other hand, if it is determined that the object 7000 was detected, the process proceeds to step 205. 【0159】 Next, if it is determined in step 204 that an object 7000 has been detected, the object detection determination unit 2133 determines the object information (step 205). The object information determined in this step is, for example, the various types of information shown in Figure 14. 【0160】Next, the object detection and determination unit 2133 performs a detection and determination of the object 7000 based on measurement data acquired from a different cooperative system 5000 (for example, an aircraft monitoring system 5300) than the cooperative system 5000 from which the measurement data used in step 203 was acquired (step 206). 【0161】 Next, in steps 205 and 206, the object information is determined based on the object information determined based on measurement data from different systems (step 207). 【0162】 (A-3-6. Results of Object 7000 Motion Prediction Judgment) Next, the results of the object motion prediction unit 2140's future motion prediction judgment for object 7000 will be explained using Figure 19. Figure 19 is a diagram showing an example of the results of the object motion prediction unit 2140's future motion prediction for object 7000. 【0163】 In the example shown in Figure 19, the object 7000 is detected within the measurement area of ​​the aircraft monitoring system 5300, and the object 7000 moves to its current position within the measurement area of ​​the aircraft monitoring system 5300. The figure shows the result of the object motion prediction unit 2140 predicting the future motion of the object 7000. 【0164】 The motion prediction results shown in Figure 19 show the location and range of the search areas for each of the multiple cooperative systems: the aircraft monitoring system 5300, the maritime monitoring system 5500, the underwater monitoring system 5600, and the unmanned vessel system 1000. On this map, the initial detection location of the object 7000 within the measurement area of ​​the aircraft monitoring system 5300, the current location of the object 7000, the movement path from the initial detection location to the current location (actual arrow), and the predicted future movement path of the object 7000 (dotted arrow) are shown. 【0165】 The motion prediction results shown in Figure 19 further indicate the predicted entry position where the unmanned vessel system 1000 enters the search target area (first area) and the predicted exit position where it exits the search target area (first area), along the predicted movement path (dotted arrow) of the object 7000. 【0166】(A-3-7. Operation Commands for Unmanned Vehicle 1010) Next, the operation commands for the unmanned vehicle 1010 issued by the unmanned vehicle operation determination unit 2230 will be explained using Figure 20. Figure 20 is a diagram showing an example of display information indicating the operation commands for the unmanned vehicle 1010 determined by the unmanned vehicle operation determination unit 2230. 【0167】 Figure 20 shows, in particular, the operation commands for the unmanned vessel 1010 determined by the unmanned vessel operation determination unit 2230 based on the operation prediction results shown in Figure 19. The operation commands shown in Figure 20 also include an entry response operation executed before the object 7000 enters the search target area (first area) of the unmanned vessel system 1000, a post-entry operation executed after the object 7000 enters the search target area (first area) of the unmanned vessel system 1000, and a post-exit operation executed after the object 7000 exits the search target area (first area) of the unmanned vessel system 1000. 【0168】 For approach response operations, the type of operation, deployment location, and deployment deadline are set. In the example shown in map format at the top of Figure 20, the approach response operation is set to deploy multiple unmanned vessels 1010 to wait in the area surrounding the predicted approach location of the target object 7000 by the predicted approach time. 【0169】 Furthermore, post-entry actions include setting the type of action and deployment position. In the example shown in Figure 20, a tracking action is set as the post-entry action, in which the unmanned vessel 1010 tracks the target object 7000 along the predicted movement path. 【0170】 Furthermore, post-exit actions include setting the type of action and deployment position. In the example shown in Figure 20, a re-entry standby deployment action is set as the post-exit action, in which multiple unmanned vessels 1010 are deployed and waited near the predicted exit position of the target object 7000. 【0171】Furthermore, the display information shown in Figure 20 can include button displays for "Operation Approval" to approve the displayed operation command and "Modification Input" to modify the content of the operation command. This display information can be displayed on the display output unit 2310 of the user interface unit 2300 or on the user terminal device 8000, allowing the user to operate the aforementioned buttons. 【0172】 (A-3-8. Processing Flow of Object Detection Unit 2240) Next, the processing flow of object detection determination of object 7000 by the object detection unit 2240 of the unmanned vessel system management unit 2200 will be explained using Figure 21. Figure 21 is a flowchart showing an example of the processing flow of object detection determination and motion prediction of object 7000 by the object detection unit 2240. In particular, Figure 21 shows the detailed processing flow of step 108 in the flowchart of Figure 17. 【0173】 First, the unmanned vessel measurement information acquisition unit 2241 acquires measurement data measured by the measurement unit 1100 from the unmanned vessel system 1000 (step 301). 【0174】 Next, the object detection and determination unit 2242 detects and determines whether the object 7000 is present in the first area (step 302). 【0175】 Next, depending on whether the object 7000 was detected in step 302, the next processing step to proceed to is determined (step 303). In this step, if it is determined that the object 7000 was not detected, the process proceeds to step 301; on the other hand, if it is determined that the object 7000 was detected, the process proceeds to step 304. 【0176】 Next, if it is determined in step 303 that the object 7000 has been detected, the object detection determination unit 2242 determines the current state of the object and generates object information (step 304). The object information determined in this step is, for example, the various types of information shown in Figure 14. 【0177】 Next, the object motion prediction unit 2243 predicts the future motion of the object 7000 (step 305). 【0178】(A-4. Hardware Configuration) Figure 22 is a hardware configuration diagram of the integrated control system 2000. Here, the integrated control system 2000 in the present invention is an information processing device such as a server or a PC. As shown in the figure, the integrated control system 2000 includes 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 each of these devices. 【0179】 The input device 100 can constitute the user input receiving unit 2320 of the user interface unit 2300, and is a device for the user to input information and instructions to the integrated control system 2000. Specifically, the input device 100 is, for example, a touch panel, keyboard, mouse, or voice input device such as a microphone. 【0180】 The output device 200 is a device that outputs various information generated by the integrated control system 2000, and can constitute the display output unit 2310 of the user interface unit 2300. Specifically, the output device 200 can constitute the display output unit 2310 with eyewear, AR, VR display devices, etc., and may also be a printer or a speaker. 【0181】 The processing unit 300 is, for example, a device that performs arithmetic processing. Specifically, the processing unit 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. 【0182】The main memory 400 is a memory device including RAM and ROM that allows reading and temporary writing to memory elements at arbitrary addresses at any time during processing, without requiring waiting times dependent on access patterns. For example, RAM is temporarily written to and read from during programs, application programs, and various other processes executed by the processing unit 300. ROM is a non-volatile memory in which recorded information is not lost even if the power to the device is lost. The auxiliary storage device 500 is a non-volatile storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information. 【0183】 The communication device 600 is a device that performs wireless or wired information communication between the integrated control system 2000 and the outside world. 【0184】 In the embodiments described above, an example of applying an unmanned vessel 1010 as an example of a mobile body for searching was explained, but the present invention is not limited to this, and any mobile body other than an unmanned vessel can be applied, such as a submarine that navigates underwater, an aircraft that flies in the air, or a vehicle that travels on land. 【0185】 The embodiments described above are merely illustrative to facilitate understanding of the present invention and are not intended to limit its scope. The present invention can be modified and improved without departing from its spirit, and it goes without saying that the present invention includes equivalents thereof. 【0186】 [A-2. Effects of this Embodiment] The above-described embodiment can improve the effectiveness of search missions when searching for an object using multiple systems. For example, by generating prediction information on the entry of a mobile body such as an unmanned vessel into the search area and using it for display output to the user or for generating operation commands for the mobile body, the search for an object can be performed more effectively using multiple systems. 【0187】1...Control system (system) 100...Input device 200...Output device 300...Processing device 400...Main memory 500...Auxiliary memory 600...Communication device 700...Bus 1000...Unmanned vessel system 1001...Master unit 1002...Slave unit 10021...Primary connected slave unit 10022...Secondary connected slave unit 10023...Tertiary connected slave unit 1010...Unmanned vessel 1100...Measurement unit 1110...Measurement sensor 1120...Measurement control unit 1200...Self-state determination unit 1210...Navigation state determination unit 1220...Internal state determination unit 1230...External state determination unit 1300...Navigation unit 1310...Thrust generation unit 1320...Attitude control mechanism 1330...Navigation control unit 1400...Communication unit 1410... Unmanned Vehicle Intercommunication Unit 1420... Overall Control Communication Unit 1500... Judgment Unit 1600... Recording Unit 1610... Measurement Data Recording Unit 1620... Self-Vehicle Status Recording Unit 1630... Judgment Information Recording Unit 2000... Overall Control System 2100... Heterogeneous System Overall Management Unit 2110... Pre-information Acquisition Unit 2120... Overall Pre-plan Determination Unit 2130... Target Object Information Interpretation Unit 2131... Heterogeneous System Measurement Data Acquisition Unit 2132... Environmental Disturbance Information Acquisition Unit 2133... Target Object Detection Judgment Unit 2134... Target Object Detection Confirmation Unit 2140... Target Object Motion Prediction Unit 2141... Target Object Motion Prediction Unit 2142... Unmanned Vehicle System Area Entry Prediction Unit 2143... Unmanned Vehicle System Area Exit Prediction Unit 2150... Overall Plan Update Unit 2200... Unmanned Vehicle System Management Unit 2210... Information Acquisition Unit 2211... Overall Plan Acquisition Unit 2212... Entry Prediction Information Acquisition Unit 2213... Performance Information Acquisition Unit 2220... Environmental Disturbance Impact Determination Unit 2230... Unmanned Vehicle Operation Determination Unit 2231... Search Operation Determination Unit 2232... Entry Response Operation Determination Unit 2233... Post-Entry Operation Determination Unit 2234... Unmanned Vehicle Operation Confirmation Unit 2240... Object Detection Unit 2241... Unmanned Vehicle Measurement Information Acquisition Unit 2242... Object Detection Determination Unit 2243... Object Operation Prediction Unit2250... Information Output Unit 2251... Information Display Output Command Unit 2252... Operation Command Output Unit 2253... Information Transmission Command Unit 2300... User Interface Unit 2310... Display Output Unit 2320... User Input Reception Unit 2400... Data Transmission and Reception Management Unit 2410... Unmanned Vessel Operation Command Transmission Unit 2420... External Information Transmission Unit 2430... Unmanned Vessel Information Reception Unit 2440... External Information Reception Unit 2500... Data Recording Management Unit 2600... Maintenance and Operation Management Unit 3000... Communication Satellite 4000... Ground Base Station 5000... Cooperative System 5100... High Earth Orbit Satellite Monitoring System 5200... Low Earth Orbit Satellite Monitoring System 5300... Aircraft Monitoring System 5400... Ship Operation Monitoring System 5500... Maritime Monitoring System 5600... Underwater Monitoring System 6000... External System 7000...Target object 8000...User terminal device

Claims

1. A control system for searching for an object in a predetermined first area using multiple mobile bodies, comprising: an object information interpretation unit that interprets object information relating to the object in the second area based on acquired information obtained from a cooperative system capable of measuring a second area that includes at least a portion of an area outside the first area; an object motion prediction unit that generates entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area based on the object information; and an information output unit that displays or transmits to the outside information relating to the entry prediction information generated by the object motion prediction unit, or information relating to mobile motion commands for some or all of the multiple mobile bodies generated by a mobile body motion determination unit based on the entry prediction information.

2. A control system according to claim 1, wherein the object information read by the object information reading unit includes at least one of the following: whether or not an object is detected, the type of object, its size, detection position, detection time, posture direction, movement direction, movement speed, and movement trajectory.

3. A control system according to claim 1, wherein the mobile body is an unmanned vessel that is mobile on the sea and searches for the target object in the first area on or under the sea using measuring sensors.

4. The control system according to claim 3, wherein the cooperative system includes at least one of the following systems: a high-orbit geostationary satellite system capable of acquiring information about the object using a high-orbit geostationary satellite; a low-orbit satellite system capable of acquiring information about the object using a low-orbit orbit satellite; an aircraft monitoring system capable of acquiring information about the object using an aircraft; a maritime monitoring system capable of acquiring information about the object located at sea using a measuring device installed on or under the sea, or a mobile vessel deployed on the sea; an underwater monitoring system capable of acquiring information about the object located underwater using a measuring device installed on, under, or on the sea, or a mobile submersible deployed on, under, or on the sea; and a ship operation monitoring system for acquiring ship operation information.

5. A control system according to claim 4, wherein the cooperative system includes at least two of the systems from among the high-orbit geostationary satellite system, the low-orbit satellite system, the aircraft monitoring system, the maritime monitoring system, the underwater monitoring system, and the ship operation monitoring system, and the object information interpretation unit interprets the object information, which includes at least one of the presence or absence of detection of the object, the type of object, size, position, direction of movement, speed of movement, and trajectory of movement, based on the acquired information obtained from the two or more systems.

6. A control system according to claim 4, wherein the object information interpretation unit changes the system used to interpret the object information to another system in response to a shortage of the acquired information or to environmental disturbance information in the second area.

7. A control system according to claim 2, wherein the object information interpretation unit requests the cooperative system to acquire additional information if it is unable to interpret the object information due to insufficient acquired information.

8. A control system according to claim 1, wherein the entry prediction information generated by the object motion prediction unit includes prediction information of at least one of the following when it is predicted that the object will enter the first area: the entry position into the first area, the entry direction, the entry speed, the predicted movement path after entering the first area, the predicted target position after entering, the probability of entering the first area, the probability of the object and the moving body encountering each other in the first area, and the probability of the moving body discovering the object in the first area.

9. A control system according to claim 1, wherein when the object information reading unit detects a plurality of objects, the entry prediction information generated by the object motion prediction unit includes prediction information on whether or not at least one of the plurality of objects is a diversionary marker.

10. A control system according to claim 1, wherein when the object motion prediction unit predicts an entry position or entry area in which one or more objects enter the first area, the information relating to the mobile body motion command generated by the mobile body motion determination unit includes motion command information that causes the mobile body to wait at the entry position, the entry area, or the area surrounding the entry position or the entry area.

11. A control system according to claim 1, wherein when the object motion prediction unit predicts that one or more objects will enter the first area, the information relating to the mobile body motion command generated by the mobile body motion determination unit includes motion command information for tracking the objects within the first area.

12. A control system according to claim 1, wherein when the object motion prediction unit predicts that one or more objects will exit the first area, the information relating to the moving body motion command generated by the moving body motion determination unit includes motion command information for tracking the object near the boundary within the first area, following the position of the object moving outside the first area.

13. A control system according to claim 1, wherein when the object motion prediction unit predicts that one or more objects will re-enter the first area after leaving the first area, the information relating to the mobile body motion command generated by the mobile body motion determination unit includes motion command information to cause the mobile body to wait at the re-entry position or re-entry area predicted by the object motion prediction unit, or in the area surrounding the re-entry position or the re-entry area.

14. A control system according to claim 1, wherein the mobile body operation determination unit generates or updates a search plan based on the entry prediction information, which includes at least one of the target area for search by a plurality of mobile bodies, search time, number of mobile bodies, arrangement, movement target, target search performance, and measurement sensors.

15. A control system according to claim 1, comprising a user input receiving unit that receives user-specified information relating to movement commands for some or all of the plurality of moving bodies, wherein the movement determination unit determines the movement commands based on the received user-specified information.

16. A control system according to claim 1, wherein the object information reading unit reads object information relating to an object located within the first area based on information measured by a measuring sensor mounted on the moving body; the object motion prediction unit generates motion prediction information predicting the future movement path of the object inside or outside the first area based on the read object information within the first area; and the moving body motion determination unit generates or updates moving body motion commands for some or all of the plurality of moving bodies based on the motion prediction information of the object.

17. A control system according to claim 1, wherein the object information reading unit reads object information relating to an object located in the first area based on information measured by a measuring sensor mounted on the moving body; the object motion prediction unit generates exit prediction information predicting at least one of the exit position, exit time, and movement path after exit, where the object is expected to exit the first area, based on the read object information in the first area; and the information output unit transmits the exit prediction information to the cooperative system.

18. A control system according to claim 1, wherein the mobile body operation determination unit generates or updates a search operation command that includes at least one of the target area for search by a plurality of mobile bodies, search time, number of mobile bodies, arrangement, movement target, target search performance, and measurement sensors, based on the measurement plan in the second area of ​​the cooperative system.

19. A control system according to claim 1, comprising a user input receiving unit that receives user input regarding at least one of the measurement plan for the second area by the cooperative system and the search plan for the first area by the plurality of mobile bodies, wherein the mobile body operation determination unit generates or updates a search operation command that includes at least one of the target area for the search by the plurality of mobile bodies, the search time, the number of mobile bodies, their arrangement, the number of units in formation, the target, the target search performance, and the measurement sensors, based on the user input regarding the measurement plan for the second area or the search plan for the first area received, 20. A control method for searching for an object in a predetermined first area using multiple mobile bodies, the control method comprising: an object information interpretation step in which a computer interprets object information relating to the object present in the second area based on acquired information obtained from a cooperative system capable of measuring a second area that includes at least a portion of an area outside the first area; an object movement prediction step in which, based on the object information, the computer generates entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area; and an information output step in which the computer displays or transmits to the outside the entry prediction information generated based on the object information, or information relating to mobile body movement commands for some or all of the multiple mobile bodies generated based on the entry prediction information.

21. A program usable in a control system that searches for an object in a predetermined first area using multiple moving bodies, the program causing a computer to execute: an object information interpretation command for interpreting object information relating to an object present in the second area based on acquired information obtained from a cooperative system capable of measuring a second area that includes at least part of an area outside the first area; an object movement prediction command for generating entry prediction information relating to the predicted content of the object entering the first area from an area outside the first area based on the object information; and an information output command for displaying or transmitting to the outside information relating to the entry prediction information generated based on the object information, or information relating to some or all of the multiple moving bodies' movement commands generated based on the entry prediction information.

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