CN105979200B

CN105979200B - Monitoring system for moving body, slave unit, master unit, and monitoring method for moving body

Info

Publication number: CN105979200B
Application number: CN201610139850.9A
Authority: CN
Inventors: 北山大树; 久山敏史
Original assignee: Furuno Electric Co Ltd
Current assignee: Furuno Electric Co Ltd
Priority date: 2015-03-11
Filing date: 2016-03-11
Publication date: 2020-09-08
Anticipated expiration: 2036-03-11
Also published as: JP6637661B2; JP2016171381A; CN105979200A

Abstract

The invention provides a monitoring system for a moving body, a slave unit, a master unit, and a monitoring method for a moving body, wherein monitoring information of the moving body can be acquired on the master unit side even if the slave unit worn on the moving body to be monitored is out of a receivable range of the master unit. The master unit (10) transmits a loss signal (L) to the slave unit (20A), the slave unit (20B), and the slave unit (20C) in a time slot (SL 1). The loss signal (L) indicates that the master unit (10) cannot receive the position information of the slave unit (20C). Specifically, the loss signal (L) includes information of a slot (SL4) in which the reception of the master (10) has failed. When the slave unit (20A) receives the loss signal (L) including the information of the slot (SL4), the position information of the slave unit (20C) received in the slot (SL4) of the operation section of the slave unit (20A) is transferred to the master unit (10) in the slot (SL2) of the operation section.

Description

Monitoring system for moving body, slave unit, master unit, and monitoring method for moving body

Technical Field

The present invention relates to a monitoring system for a mobile object, including: a plurality of slave units each of which is worn on a moving object to be monitored and transmits monitoring information of the moving object; and a master unit for receiving the monitoring information transmitted from each slave unit.

Background

Conventionally, for example, as disclosed in patent document 1, a monitoring system for a mobile object has been proposed, which includes: a slave unit that is worn on a mobile body such as a child and transmits monitoring information of the child; and a master unit for receiving the monitoring information transmitted from the slave unit. In patent document 1, position information of a child is used as monitoring information.

By providing a plurality of slave units disclosed in patent document 1, the master unit can receive position information of a plurality of moving bodies. When there are a plurality of slave units, communication between the slave unit and the master unit may be performed by using a Time Division Multiple Access (TDMA) technique, for example, in order to reduce a communication band (see, for example, patent document 2).

Prior art documents

Patent document

Patent document 1: japanese unexamined patent publication No. 6-188819

Patent document 2: japanese unexamined patent publication No. 2006-186766

Disclosure of Invention

Problems to be solved by the invention

However, the communication distance between the slave unit and the master unit is limited due to the limitation of the radio wave method. Therefore, if the mobile object having the slave unit is out of the receivable range of the master unit, the master unit cannot acquire the positional information of the mobile object.

Accordingly, an object of the present invention is to provide a mobile object monitoring system, a slave unit, a master unit, and a mobile object monitoring method, which enable the master unit to acquire monitoring information of a mobile object to be monitored even if the slave unit worn on the mobile object is out of a receivable range of the master unit.

Means for solving the problems

A monitoring system for a moving body includes a plurality of slave units each mounted on a plurality of moving bodies, and a master unit time-division multiple access-connected to each of the slave units.

For example, in a mobile monitoring system, a slave set is worn on a hunting dog as a monitoring target. The master machine is held by the hunter.

Each slave unit includes: a monitoring information acquisition unit that acquires monitoring information of a moving body on which the slave unit is mounted; and a 1 st wireless communication unit that wirelessly transmits the monitoring information in a time slot allocated to the slave unit and receives the monitoring information transmitted from the other slave units in time slots other than the time slot.

For example, the location information of a hunting dog or the bark information of a hunting dog is used as the monitoring information. When the position information of the hunting dog is used as the monitoring information, the slave unit receives the positioning signal broadcast by the satellite, and calculates the position information of the slave unit as the monitoring information based on the received positioning signal. Accordingly, the monitoring information acquiring unit acquires the position information of the hunting dog wearing the slave unit as the monitoring information. The monitoring information acquiring unit acquires the bark information as the monitoring information by voice-capturing the bark of the hunting dog by a microphone provided in the kid machine.

As the positioning signal, for example, a GPS signal can be used. Since the time information included in the GPS signal is extremely accurate, it can be used for synchronization between the respective slave units.

The master unit includes a 2 nd wireless communication unit for wirelessly receiving the monitoring information transmitted from each slave unit. When the reception of the monitoring information transmitted from a certain slave unit fails, the 2 nd wireless communication unit transmits a loss signal indicating the slave unit. When the 1 st wireless communication unit of the slave unit receives the loss signal, the monitoring information of the slave unit indicated by the loss signal is transferred to the master unit.

In the monitoring system for a mobile object of the present invention, the slave unit receives monitoring information of the other slave unit in advance. When a slave unit which is out of the receivable range of the master unit is referred to as a "lost terminal", the other slave units transfer the monitoring information of the lost terminal received in advance to the master unit. Accordingly, the mobile monitoring system according to the present invention can acquire, on the master side, monitoring information of a lost terminal that is out of the receivable range of the master.

The slave unit may always receive the monitoring information of the other slave units, or may receive the monitoring information of the other slave units only in the operation section allocated to the slave unit among the operation sections, which are the cycle of the time slot. Accordingly, in the monitoring system for a mobile object, the number of times of reception by the slave unit is reduced, and therefore, power consumption of the slave unit can be suppressed. Preferably, the 1 st wireless communication unit determines the operation section allocated to the own slave unit based on the information of the other slave units.

The 1 st wireless communication unit may also transmit the monitoring information of the slave unit indicated by the loss signal to other slave units, and the monitoring information of the slave unit indicated by the loss signal may be transmitted between the slave units and then transmitted to the master unit. That is, the monitoring information of the slave unit indicated by the loss signal is transmitted to the master unit by being transferred at least 2 times. In this system, since the monitor information is transferred at least 2 times, the monitor information of the slave unit indicated by the loss signal located further away from the master unit can be acquired on the master unit side.

Preferably, the 1 st wireless communication unit specifies a slave unit having the latest monitoring information of the slave unit indicated by the loss signal, and the specified slave unit transfers the latest monitoring information to the master unit. Thus, the master unit can more efficiently acquire the latest monitoring information of the slave unit.

Preferably, the 1 st wireless communication unit determines an available time slot that is free among time slots corresponding to the slave unit indicated by the loss signal, and transfers the monitoring information of the slave unit indicated by the loss signal in the available time slot. In this case, the 2 nd wireless communication unit may specify an available slot that is free among the slots corresponding to the slave units indicated by the missing signal, and the 1 st wireless communication unit may transfer the monitoring information of the slave units indicated by the missing signal in the available slot specified by the 2 nd wireless communication unit. With this, the available time slot can be more efficiently used.

The mobile monitoring system may include a plurality of base units, and the 2 nd wireless communication unit may receive monitoring information of each slave unit included in another base unit from the other base unit.

Accordingly, even if one base unit cannot receive the monitoring information of the slave unit, the monitoring information of the slave unit can be shared by acquiring the monitoring information of the slave unit from the other base unit.

In this case, the master may switch to a channel different from the channel received from the slave unit, and receive the monitoring information of the slave unit indicated by the loss signal from the other master unit. It is needless to say that the above channel switching is effective even when the slave unit is passed through.

Accordingly, even if there is no unused time slot for transmitting and receiving the monitoring information of the slave unit between the master units, one master unit or the slave unit that transfers the monitoring information can receive the monitoring information of the slave unit from the other master unit on a different channel.

Preferably, the master unit includes a display unit for displaying the monitoring information received by the wireless communication unit.

The monitoring system for a mobile object of the present invention is not limited to a mode in which a slave unit acquires monitoring information of another slave unit in advance. The monitoring system for a mobile object according to the present invention may be configured such that the slave unit receives the monitoring information of the lost terminal after receiving the loss signal, and transfers the received monitoring information to the master unit.

The present invention is not limited to the monitoring system for a mobile object, and may be a slave unit, a master unit, and a monitoring method for a mobile object using the master unit.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, even if a slave unit worn on a moving object to be monitored is out of a receivable range of a master unit, monitoring information of the moving object can be acquired on the master unit side.

Drawings

Fig. 1 is a diagram showing a main configuration of a monitoring system for a mobile object according to embodiment 1 of the present invention.

Fig. 2(a) is an external view of the master unit, and fig. 2(B) is an external view of the slave unit.

Fig. 3(a) is a block diagram showing a part of the structure of the master unit, and fig. 3(B) is a block diagram showing a part of the structure of the slave unit.

Fig. 4 is a diagram showing each operation of the master unit and each slave unit at each time.

Fig. 5 is a diagram showing the respective positions of the master unit and the respective slave units for explaining the concept of the transfer process.

Fig. 6 is a diagram for explaining each operation of the master unit and each slave unit at each time point in the transfer process.

Fig. 7 is a diagram showing a display example of the master.

Fig. 8 is a diagram showing the respective positions of the master unit and the respective slave units for explaining the transfer processing according to modification 1 of the transfer processing.

Fig. 9 is a diagram showing each operation of the master unit and each slave unit at each time for explaining the transfer processing according to modification 1.

Fig. 10 is a diagram showing each operation of the master unit and each slave unit at each time for explaining the transfer processing according to modification 2 of the transfer processing.

Fig. 11 is a diagram for explaining each operation of each master unit and each slave unit at each time in the position sharing process of the monitoring system for a moving object according to embodiment 2 of the present invention.

Fig. 12 is a diagram showing the respective positions of each master unit and each slave unit for explaining the position sharing process.

Description of the reference numerals

1. 1A moving body monitoring system

10. 10A, 10B mother machine

20A, 20B, 20C sub-machine

111 control part

112 GPS receiving part

113 Wireless communication unit

114 cell

115 storage unit

116 operating part

117 display unit

118 loudspeaker

119 modulation/demodulation unit

121. 221GPS receiving antenna

131. 231 antenna for wireless communication

211 control part

212 GPS receiving part

213 Wireless communication part

214 battery

215 storage unit

216 microphone

217 modem unit

Detailed Description

Fig. 1 is a diagram showing a main configuration of a mobile monitoring system (multichannel communication system) 1 according to embodiment 1 of the present invention. The monitoring system for a moving body 1 includes a master unit 10 and a plurality of slave units (in this example,

slave units

20A, 20B, and 20C). The master 10 is held by a hunter 901 as a user.

The

slave units

20A, 20B, and 20C are respectively worn on a dog 902A, a dog 902B, and a dog 902C, which are moving bodies to be monitored. The master unit 10, the

slave units

20A, 20B, and 20C have a wireless communication function. The master unit 10, the

slave units

20A, 20B, and 20C have a function of obtaining position information by performing positioning by receiving a positioning signal (for example, a GPS signal or a GNSS signal) broadcast by the positioning satellite SAT. The position information of the

slave units

20A, 20B, and 20C corresponds to the monitor information of the hunting dog. However, although not shown, the master unit 10, the

slave units

20A, 20B, and 20C actually receive positioning signals from the plurality of positioning satellites SAT.

Fig. 2(a) is an external view of the main unit 10, and fig. 3(a) is a block diagram showing the configuration of the main unit 10.

The base unit 10 includes a control unit 111, a GPS receiving unit 112, a wireless communication unit 113, a battery 114, a storage unit 115, an operation unit 116, a display unit 117, a speaker 118, a modem unit 119, a GPS receiving antenna 121, and a wireless communication antenna 131.

The control unit 111 is connected to a GPS receiving unit 112, a battery 114, a storage unit 115, an operation unit 116, a display unit 117, and a modulation/demodulation unit 119. The battery 114 supplies power to other parts of the main unit 10.

The control unit 111 controls the entire main unit 10. The control unit 111 performs various operations by executing the operation program stored in the storage unit 115. For example, the control unit 111 performs an operation of changing the image displayed on the display unit 117 in accordance with the user operation received by the operation unit 116. The storage unit 115 may also function as a temporary memory used when the operating program is executed. The storage unit 115 also stores various information (for example, positional information of each slave unit) acquired by the control unit 111.

The GPS receiving unit 112 is connected to a GPS receiving antenna 121. The GPS receiving unit 112 locates the base unit 10 and acquires position information. Specifically, the GPS receiving unit 112 obtains the positional information of the host computer by calculation based on a plurality of positioning signals received by the GPS receiving antenna 121. The acquired position information is output to the control unit 111.

The control unit 111 reads the map data stored in the storage unit 115 and causes the display unit 117 to display a map image. Further, the control unit 111 causes the map to display the position of the master 10 based on the position information acquired by the GPS receiving unit 112.

The wireless communication unit 113 is connected to the wireless communication antenna 131. The wireless communication unit 113 receives various kinds of modulated information transmitted from the

slave units

20A, 20B, and 20C and outputs the information to the modulation and demodulation unit 119. The modem 119 demodulates the received various information and outputs the demodulated information to the controller 111. The

slave units

20A, 20B, and 20C transmit, for example, position information of the

slave units

20A, 20B, and 20C. The control unit 111 causes the map displayed on the display unit 117 to display the position of each slave unit based on each piece of received position information.

The modem unit 119 has not only a demodulation function but also a function of modulating information to be transmitted to each slave unit. The modulation performed by the modem unit 119 may be analog modulation or digital modulation. The modulated information is output to the control unit 111. The information to be transmitted to each slave unit includes information on the time slot used. The time slots will be described later.

Fig. 2(B) is an external view of the slave unit 20A, and fig. 3(B) is a block diagram showing the configuration of the slave unit 20A. In fig. 2(B) and 3(B), the slave unit 20A is representatively shown, and the

slave units

20A, 20B, and 20C have the same configuration and the same function.

The slave unit 20A includes a control unit 211, a GPS receiving unit 212, a wireless communication unit 213, a battery 214, a storage unit 215, a microphone 216, a modem unit 217, a GPS receiving antenna 221, and a wireless communication antenna 231.

The control unit 211 is connected to a GPS receiving unit 212, a battery 214, a storage unit 215, and a modem unit 217. The battery 214 supplies power to other parts of the sub-unit 20A.

The control unit 211 controls the entire slave unit 20A. The control unit 211 performs various operations by executing the operation program stored in the storage unit 215. The storage unit 215 may also function as a temporary memory used when the operation program is executed. The storage unit 215 stores the positional information of the slave unit 20A and the like acquired by the control unit 211.

The GPS receiving unit 212 is connected to a GPS receiving antenna 221. The GPS receiving unit 212 locates the sub-unit 20A and acquires position information. Specifically, the GPS receiving unit 212 obtains the position information of the own handset by calculation based on a plurality of positioning signals received by the GPS receiving antenna 221. The acquired position information is output to the control unit 211.

The control unit 211 temporarily stores the acquired position information in the storage unit 215. Then, the control unit 211 reads the position information at a predetermined timing and outputs the position information to the modulation and demodulation unit 217. The modem unit 217 modulates the position information output from the control unit 211 and outputs the modulated position information to the radio communication unit 213. The modulation performed by the modem unit 217 may be analog modulation or digital modulation.

The modem unit 217 modulates the position information output from the control unit 211 and outputs the position information to the radio communication unit 213. The modem unit 217 modulates various information received from the base unit 10 via the wireless communication unit 213 and outputs the modulated information to the control unit 211.

The wireless communication unit 213 is connected to the wireless communication antenna 231. The wireless communication unit 213 transmits the modulated position information output from the modem unit 217 to the master 10. Accordingly, the positions of the

slave units

20A, 20B, and 20C are displayed on the master unit 10.

In the above description, the respective pieces of position information of the

slave machines

20A, 20B, and 20C are described as the monitoring information, but the monitoring information may be information relating to the state of the slave machine 20A (temperature, battery remaining amount, and the like) and the sound (bark of a hunting dog, surrounding sound, and the like).

When the information related to the voice is the monitoring information, the modem unit 217 modulates the bark of the hunting dog or the like which is voice-collected by the microphone 216. The information related to the modulated audio is transmitted to the base unit 10 by the wireless communication unit 213. The master unit 10 demodulates the information relating to the received audio by the modem unit 119, and outputs the demodulated audio from the speaker 118. Accordingly, the hunter 901 hears the dog's barking or the like.

In the present embodiment, for example, wireless communication is performed by time division multiple access in accordance with the standard of the 150MHz band. Here, the receivable range of the master unit 10 is limited due to the output limit of the radio wave method, obstacles of the radio wave, and the like. In other words, the master unit 10 cannot receive the position information and the like from the slave units located outside the receivable range. In the monitoring system for a moving body 1 according to the present embodiment, the master unit 10, the

slave units

20A, 20B, and 20C can cause the master unit 10 to acquire the position information of the slave units located outside the receivable range of the master unit 10 by executing the transfer processing.

First, the time division multiple access connection according to the present embodiment will be described with reference to fig. 4. Fig. 4 is a diagram showing the respective operations of the master unit 10, the

slave units

20A, 20B, and 20C at respective times when the transfer process is not performed.

In the time division multiple access, the master unit 10, the

slave units

20A, 20B, and 20C transmit in time slots allocated to the master unit. In the example shown in fig. 4, 5 slots are defined for a 5 second interval. Hereinafter, in the present embodiment, the cycle of the slot is referred to as "operation section (turn)". That is, in the present embodiment, the 1-action interval is 5 seconds.

(allocation of time slots)

For example, as shown in fig. 4, the slot SL2 is assigned to the slave unit 20A. The slot SL3 is allocated to the slave unit 20B. The slot SL4 is allocated to the slave unit 20C. Since the monitoring system 1 for a mobile object uses 1 master unit 10 and 3

slave units

20A, 20B, and 20C, 4 time slots out of 5 time slots are used. Therefore, in the example shown in fig. 4, no terminal is allocated to the time slot SL 5.

The number of slots of 5 is an example, and the number of slots may be 10 or more for processing 10 or more slave devices. The master unit 10, the

slave units

20A, 20B, and 20C are preset with time slots to be allocated and time periods of operation intervals.

For synchronization of the time slots, the master unit 10, the

slave units

20A, 20B, and 20C count the time slots based on the GPS synchronization timing every 5 seconds. Specifically, the control unit 111 of the master unit 10 counts each time slot based on the GPS synchronization timing based on the synchronization signal output from the GPS receiving unit 112. The control unit 211 of each of the

slave units

20A, 20B, and 20C counts each time slot based on the GPS synchronization timing based on the synchronization signal output from the GPS receiving unit 212. The synchronization of the time slots in the master unit 10, the

slave units

20A, 20B, and 20C is extremely accurate because the synchronization signal is based on accurate time information included in the positioning signal.

(action of TDMA connection)

As shown in fig. 4, the master unit 10 transmits the polling signal P including information of the slots SL1 to SL4 to the

slave units

20A, 20B, and 20C in the slot SL 1. However, the polling signal P does not need to be transmitted every operation interval, and may be transmitted 1 time of several operation intervals.

The slave unit 20A transmits the position information of the slave unit to the master unit 10 in the allocated time slot SL 2. The slave unit 20B transmits the position information of the slave unit to the master unit 10 in the allocated time slot SL 3. The slave unit 20C transmits the position information of the own slave unit to the master unit 10 at the allocated time slot SL 4. The master unit 10 receives the position information of the

slave units

20A, 20B, and 20C in the slots SL2 to SL 4.

In the present embodiment, the

slave units

20A, 20B, and 20C also receive in time slots other than the time slot allocated to the slave unit in the operation section allocated to the slave unit.

In the example shown in fig. 4, the slave unit 20A is assigned an operation interval from time t seconds to time t +5 seconds. The slave unit 20B is allocated an operation interval from time t +5 seconds to time t +10 seconds. The slave unit 20C is allocated an operation interval from time t +10 seconds to time t +15 seconds. Although not shown, the operation section after time t +15 seconds is allocated to any one of the

slave units

20A, 20B, and 20C.

The slave unit 20A receives the signal in the time slot allocated to the other slave unit in the operation section of the slave unit. That is, the slave unit 20A receives the slot SL3 and the slot SL4 other than the slot SL2 allocated to the slave unit in the operation section of the slave unit. Accordingly, the slave unit 20A receives the position information of the slave unit 20B from the slave unit 20B at the time slot SL 3. The slave unit 20A receives the position information of the slave unit 20C from the slave unit 20C at the time slot SL 4.

Similarly, the slave unit 20B receives the signal in the time slot allocated to the other slave unit in the operation section of the slave unit. Accordingly, the slave unit 20B receives the position information of the slave unit 20A from the slave unit 20A at the time slot SL 2. The slave unit 20B receives the position information of the slave unit 20C from the slave unit 20C at the time slot SL 4.

Similarly, the slave unit 20C receives the signal in the time slot allocated to the other slave unit in the operation section of the slave unit. Accordingly, the slave unit 20C receives the position information of the slave unit 20A from the slave unit 20A at the time slot SL 2. The slave unit 20C receives the position information of the slave unit 20B from the slave unit 20B at the time slot SL 3.

As described above, each of the

slave units

20A, 20B, and 20C receives the position information of the other slave units before the transfer process. When each of the

slave units

20A, 20B, and 20C receives the position information of the other slave unit, the position information of the other slave unit is temporarily stored in the storage unit 215.

Next, the transfer process will be described with reference to fig. 5 and 6. Fig. 5 is a diagram showing the respective positions of the master unit 10, the

slave units

20A, 20B, and 20C for explaining the concept of the transfer process. Fig. 6 is a diagram showing the respective operations of the master unit 10, the

slave units

20A, 20B, and 20C at respective times for explaining the transfer process. In fig. 5, dotted lines, broken lines, and chain lines indicate receivable ranges of the master unit 10, the slave units 20A, and the slave units 20B.

As shown in fig. 5, the

slave units

20A and 20B are located within the receivable range 900 of the master unit 10. The slave unit 20C is not located within the receivable range 900 of the master unit 10. In this case, the master unit 10 cannot directly receive information from the slave unit 20C. Then, the master unit 10, the

slave units

20A, 20B, and 20C perform a transfer process, and transfer the position information of the slave unit 20C to the master unit 10. Each operation in the transfer process will be specifically described with reference to fig. 6.

(operation section of the slave unit 20A: time s second to time s +5 seconds)

As shown in fig. 6, in this operation section, the master unit 10 fails to receive the position information of the slave unit 20C from the slave unit 20C in the time slot SL 4. As shown in the receivable range 900A of the slave unit 20A in fig. 5, since the slave unit 20C is located within the receivable range 900A, the slave unit 20A receives the position information of the slave unit 20C from the slave unit 20C at the time slot SL 4.

(operation section of the slave unit 20B: time s +5 seconds to time s +10 seconds)

Next, the master unit 10 transmits the loss signal L to the

slave units

20A, 20B, and 20C in the time slot SL 1. The loss signal L indicates that the master unit 10 cannot receive the position information of the slave unit 20C. Specifically, the loss signal L includes information of the slot SL4 in which the master 10 failed in reception. When the slave unit 20A receives the loss signal L including the information of the slot SL4, the slot SL2 in the operation section transfers the position information of the slave unit 20C received in the slot SL4 in the operation section of the slave unit 20A to the master unit 10. Accordingly, the master unit 10 can acquire the positional information of the slave unit 20C which is not present in the receivable range 900 of the master unit 10.

Although not shown, the slave unit 20A also transmits the position information of the slave unit to the master unit 10 when the slave unit 20C transmits the information.

In this operation section, the master unit 10 also fails to receive the position information of the slave unit 20C from the slave unit 20C. The slave unit 20B receives the position information of the slave unit 20C from the slave unit 20C at the time slot SL 4.

(operation section of slave unit 20C: time s +10 seconds to time s +15 seconds)

Since the master unit 10 does not directly receive the position information of the slave unit 20C from the slave unit 20C in the operation section of the slave unit 20B, the loss signal L is transmitted also in the operation section of the slave unit 20C. In this operation section, the slave unit 20A transmits the position information of the slave unit 20C received from the slave unit 20C in the operation section of the slave unit 20A to the master unit 10. In this operation section, the slave unit 20B transmits the position information of the slave unit 20C received from the slave unit 20C in the operation section of the slave unit 20B to the master unit 10.

That is, the master unit 10 receives the position information of the slave unit 20C from the

slave units

20A and 20B. When the master unit 10 acquires the position information of the slave unit 20C from the plurality of slave units, the position information is narrowed to the latest position information of the slave unit 20C. For example, the

slave units

20A and 20B transmit time information (time stamp) of the position information of the slave unit 20C and the position information of the slave unit 20C to the master unit 10. The master unit 10 reduces the time to the position information of the slave unit 20C to which the latest time information is added.

However, the master unit 10 can be reduced to the latest position information of the slave unit 20C without using the time information (time stamp). For example, the master unit 10 specifies the slave unit 20A and the slave unit 20B that have been assigned the closest operation section, from among the

slave units

20A and 20B that have transmitted the position information of the slave unit 20C, and reduces the operation section to the position information of the slave unit 20C transmitted by the specified slave unit.

Further, as described above, since the

slave units

20A, 20B, and 20C receive the position information of the other slave units in advance, even when the position information cannot be received from the other slave units corresponding to the loss signal L after receiving the loss signal L, the received position information of the other slave units can be transferred to the master unit 10.

The loss signal L is not limited to a form including information of the slot SL4 of the slave unit 20C. The loss signal L may include information for identifying the slave unit 20C. When the loss signal L includes identification information of the slave unit 20C, each slave unit stores the identification information of each slave unit in association with each time slot.

(display after transfer processing)

The master unit 10 displays the position information of the slave unit 20A and the position information of the slave unit 20B, which are directly received, on the basis of the transferred position information of the slave unit 20C. For example, as shown in the display example of fig. 7, the master unit 10 controls the display unit 117 so that

images

800A, 800B, and 800C showing the dog 902A, the dog 902B, and the dog 902C to which the

slave units

20A, 20B, and 20C are attached are displayed on the map image. The master unit 10 adds a notice display 810 to the image 800C corresponding to the slave unit 20C in order to indicate that the positional information of the slave unit 20C is transferred.

Next, a transfer process according to modification 1 of the transfer process will be described with reference to fig. 8 and 9. Fig. 8 is a diagram showing the respective positions of the master unit 10 and the

slave units

20A, 20B, and 20C for explaining the transfer processing according to the modification 1. Fig. 9 is a diagram showing operations at each time of the master unit 10 and the

slave units

20A, 20B, and 20C for explaining the transfer processing according to the modification 1.

The transfer process according to modification 1 is different from the transfer process shown in fig. 6 in that the position information of the slave unit 20A is transferred 2 times by the

slave units

20B and 20C. Here, the 1-time transfer of the position information of the slave unit 20C is the same as the above-described example of the transfer and is therefore omitted.

As shown in fig. 8, the master unit 10 can receive information from the slave unit 20B existing in the receivable range 900. The master unit 10 cannot directly receive information from the

slave units

20A and 20C outside the receivable range 900. The slave unit 20B can receive information from the slave unit 20C existing in the receivable range 900B. The slave unit 20B cannot directly receive information from the slave unit 20A outside the receivable range 900B. The slave unit 20C can receive information from the slave unit 20A existing in the receivable range 900C.

(operation section (nth time) of slave unit 20B)

According to the arrangement shown in fig. 8, as shown in fig. 9, the master unit 10 fails to receive the position information of the slave unit 20A from the slave unit 20A in the time slot SL 2.

(operation section (nth time) of slave unit 20C)

Since the master unit 10 fails to receive the position information of the slave unit 20A in the operation section (nth time) of the slave unit 20B, the loss signal L is transmitted in the time slot SL 1. The loss signal L includes information of the time slot SL2 assigned to the slave unit 20A.

When the slave unit 20B receives the loss signal L in the slot SL1, the position information of the slave unit 20A cannot be received in the operation section (nth time) of the slave unit 20B, and therefore the loss signal L is transferred in the slot SL 3.

The slave unit 20C receives the loss signal L transferred from the slave unit 20B in the time slot SL 3.

(operation section (n +1 st time) of slave unit 20B)

The slave unit 20C receives the position information of the slave unit 20A in the slot SL2 indicated by the transferred loss signal L in the operation section (nth time) of the slave unit 20C, and therefore transfers the position information of the slave unit 20A in the slot SL 4. The slave unit 20B receives the position information of the slave unit 20A transferred from the slave unit 20C.

(operation section (n +1 st time) of slave unit 20C)

When transmitting the position information of the slave unit, the slave unit 20B also transmits the information of the slave unit 20A transmitted from the slave unit 20C. The master unit 10 receives the position information of the slave unit 20A from the slave unit 20B.

In the transfer process according to this modification 1, since the position information of the slave unit 20A is transferred 2 times, the master unit 10 can acquire the position information of the slave unit 20A even for the slave unit 20A that does not exist in the receivable range 900B of the slave unit 20B, the slave unit 20B being within the receivable range 900 of the master unit 10. Therefore, the master unit 10 can acquire the position information of the slave unit 20A even for the slave unit 20A located further away.

In the above example, the position information of the slave unit is transferred 2 times, but the position information of the slave unit may be transferred 3 times or more. Specifically, the mobile object monitoring system 1 transfers the loss signal L to other slave devices when each slave device fails to receive the position of the slave device corresponding to the loss signal L, thereby realizing transfer of position information of 3 or more slave devices.

Next, the transfer process according to modification 2 will be described with reference to fig. 10. Fig. 10 is a diagram showing operations at each time of the master unit 10 and the

slave units

20A, 20B, and 20C for explaining the transfer processing according to the modification 2.

In the transfer process according to modification 2, the operations of the

slave units

20A, 20B, and 20C are different from those of the above-described example in that, after receiving the loss signal L from the master unit 10, the slave units receive the position information of the other slave units corresponding to the loss signal L and transmit the received position information to the master unit 10.

In fig. 10, the period from time t seconds to time t +5 seconds represents normal processing when the master unit 10 has successfully received the position information from each slave unit, and the period from time t +5 seconds onward represents transfer processing when the master unit 10 has failed to receive the position information from the slave unit 20A.

As shown in fig. 10, in the normal processing, each of the

slave units

20A, 20B, and 20C does not receive the position information from the other slave units in the time slot other than the time slot allocated to the slave unit. In the transfer process according to modification 2, when the master unit 10 fails to receive the position information from the slave unit 20A, the loss signal L is transmitted in the time slot SL1 between time t +10 and time t +15 seconds. When the

slave units

20B and 20C receive the loss signal L, the position information of the slave unit 20A is received in the time slot SL2 indicated by the loss signal L. The

slave units

20B and 20C transmit the position information of the slave unit 20A in the slots SL3 and SL4 allocated to the slave units.

As described above, in the transfer process according to modification 2, the

slave units

20A, 20B, and 20C communicate only in the time slot allocated to the slave unit until the loss signal L is received from the master unit 10. In other words, the

slave units

20A, 20B, and 20C do not receive the loss signal L from the master unit 10 until the loss signal L is received in the time slot allocated to the other slave unit. Accordingly, in the transfer process according to modification 2, the number of times of reception by the

slave units

20A, 20B, and 20C is suppressed. Accordingly, the mobile object monitoring system 1 can suppress power consumption of the

slave units

20A, 20B, and 20C.

Next, a monitoring system for a moving object 1A according to embodiment 2 will be described with reference to fig. 11 and 12. Fig. 11 is a diagram showing each operation at each time of each position of each

master unit

10A, 10B and each

slave unit

20A, 20B, 20C for explaining the position sharing process. Fig. 12 is a diagram showing the respective positions of the

parent devices

10A, 10B and the

child devices

20A, 20B, 20C of the mobile monitoring system 1A.

The monitoring system for a moving body 1A according to embodiment 2 differs from the monitoring system for a moving body 1 according to embodiment 1 in that 2

parent machines

10A and 10B are provided, and a position sharing process for sharing position information of the

respective slave machines

20A, 20B, and 20C is performed between the parent machine 10A and the parent machine 10B. The description of the configuration overlapping with the mobile object monitoring system 1 is omitted.

The main unit 10A and the main unit 10B have the same configuration as the main unit 10 according to embodiment 1. The

parent devices

10A and 10B perform the same operations as the parent device 10 according to embodiment 1 before the position sharing process. That is, as shown in the operations from time t seconds to time t +5 seconds in fig. 11, the master unit 10A and the master unit 10B transmit the polling signal P in the slot SL1 and receive the position information from the

slave units

20A, 20B, and 20C in the slots SL2 to SL 4. In order to prevent collision of the polling signals P, the transmission timing of the polling signal P of the master 10A is different from the transmission timing of the polling signal L of the master 10B. The master 10A and the master 10B receive signals from other masters in the time slot SL1 in which the master does not transmit the polling signal P.

In the normal processing, transmission and reception of the polling signal P and the position information are performed in the channel 1 of the 150MHz band.

Here, as shown in fig. 12, the monitoring system for a moving body 1A executes the position sharing process when one of the base units fails to receive the position information from any one of the slave units. In the example shown in fig. 12, since the

slave units

20A, 20B, and 20C are present in the receivable range 910A of the master unit 10A, the master unit 10A can receive information from the

slave units

20A, 20B, and 20C. Since the

slave units

20A, 20B, and 20C do not exist in the receivable range 910B of the master unit 10B, the master unit 10B cannot receive information from the

slave units

20A, 20B, and 20C.

At time t +5 seconds, in the arrangement shown in fig. 12, as shown in the operations from time t +5 seconds to time t +10 seconds in fig. 11, the master unit 10B fails to receive the position information transmitted from the

slave units

20A, 20B, and 20C.

Then, as shown in the operations from time t +10 seconds to time t +15 seconds in fig. 11, the master unit 10B transmits the position sharing signal S in the time slot SL 1. The master 10A receives the position sharing signal S transmitted from the master 10B.

When transmitting and receiving the position sharing signal S, the master unit 10 and the master unit 10B switch the channel of the wireless communication from the channel 1 to the channel 2 in order to share the position information of the

respective slave units

20A, 20B, and 20C temporarily stored in the master unit 10A with the master unit 10B. Accordingly, even if the position information is transmitted from the

slave units

20A, 20B, and 20C through the channel 1 between time t +10 seconds and time t +15 seconds, the master unit 10B can receive the position information from the master unit 10A.

However, it is not necessary to switch channels for the location sharing process. For example, the master unit 10A and the master unit 10B may transmit and receive the position information in a time slot in which the

respective slave units

20A, 20B, and 20C do not transmit the position information.

In the example shown in fig. 11, the position information of all the

slave units

20A, 20B, and 20C is shared, but only the position information of the slave unit that the master unit 10B cannot receive may be shared.

In embodiment 2, only the sharing of the positional information among the

slave units

20A, 20B, and 20C between the master unit 10A and the master unit 10B has been described, but the monitoring system for a moving body 1A according to embodiment 2 may combine the execution of the positional sharing process and the transfer process according to embodiment 1 of transferring the positional information among the slave units.

In the above embodiment, the mobile object is a hound dog, but the present invention is not limited thereto, and may be a living object such as a human or other animal, or a mobile object other than a living object such as a car.

In embodiment 1, the slave unit receives the monitoring information of the other slave unit only in the operation section allocated to the slave unit among the operation sections in the cycle of the time slot, but the present invention is not limited to this, and for example, the slave unit (1 st wireless communication unit) may determine the operation section (cycle of the operation section, etc.) allocated to the slave unit based on the information of the other slave unit.

In embodiment 1, the master unit 10 is narrowed down to the position information (monitoring information) of the slave unit to which the latest time information is added, but the present invention is not limited to this, and for example, the slave unit (1 st wireless communication unit) that transfers the monitoring information may specify the slave unit having the latest monitoring information of the slave unit indicated by the lost signal, and the specified slave unit may transfer the latest monitoring information to the master unit. Accordingly, the master unit 10 can more efficiently acquire the latest monitoring information of the slave units.

In embodiment 1 described above, the 1 st wireless communication unit wirelessly transmits the monitoring information in the time slot allocated to the own slave unit and receives the monitoring information transmitted by the other slave units in the time slots other than the time slot, but the present invention is not limited to this, and for example, the 1 st wireless communication unit may determine an available time slot that is free among the time slots corresponding to the slave units indicated by the loss signal and may transfer the monitoring information of the slave unit indicated by the loss signal in the available time slot. Further, the 2 nd wireless communication unit may specify an available slot that is free among the slots corresponding to the slave units indicated by the missing signal, and the 1 st wireless communication unit may transfer the monitoring information of the slave units indicated by the missing signal in the available slot specified by the 2 nd wireless communication unit. With this, the available time slot can be more efficiently used.

In the above embodiment, the plurality of base units switch to a channel different from the channel received from the slave unit, and receive the monitoring information of the slave unit indicated by the loss signal from the other base unit, but it is needless to say that the switching of the channel is effective even when the slave unit is passed.

Claims

1. A monitoring system for a mobile body includes a plurality of slave units respectively mounted on a plurality of mobile bodies, and a master unit time-division multiple access-connected to each of the slave units,

each of the sub-units includes:

a monitoring information acquisition unit that acquires monitoring information of a moving body on which the slave unit is mounted; and

a 1 st wireless communication unit for wirelessly transmitting the monitoring information in a time slot allocated to the own slave unit and receiving the monitoring information transmitted from the other slave units in time slots allocated to the slave units other than the time slot,

the master unit has a 2 nd wireless communication unit for wirelessly receiving the monitoring information transmitted from each slave unit,

the 2 nd wireless communication unit transmits a loss signal indicating a slave unit to each slave unit when the reception of the monitoring information transmitted from the slave unit fails,

the 1 st wireless communication unit transfers, to the master, monitoring information of a slave unit indicated by the loss signal received before the loss signal is received, when the loss signal transmitted from the master is received in a time slot allocated to the master.

2. The monitoring system for a mobile object as set forth in claim 1,

a plurality of operation sections are preset at regular time intervals as a cycle, the operation sections are divided into a plurality of time slots, and the 1 st wireless communication unit receives the monitoring information of the other slave units only in the operation section allocated to the own slave unit.

3. The monitoring system for a mobile body as recited in claim 1 or 2,

the 1 st wireless communication unit transfers the monitoring information of the slave unit indicated by the loss signal to the other slave units,

the monitoring information of the slave units indicated by the loss signal is transferred between the slave units and then transferred to the master unit.

4. The monitoring system for a mobile body as recited in claim 1 or 2,

the 1 st wireless communication unit specifies a slave unit having the latest monitoring information of the slave unit indicated by the loss signal, and the specified slave unit transfers the latest monitoring information to the master unit.

5. The monitoring system for a mobile body as recited in claim 1 or 2,

the monitoring system for a moving body includes a plurality of the base units,

the 2 nd wireless communication unit receives, from the other parent device, monitoring information of each child device included in the other parent device.

6. The monitoring system for a mobile object as set forth in claim 5,

the master unit switches to a channel different from the channel received from the slave unit, and receives the monitoring information of the slave unit indicated by the loss signal from the other master unit.

7. The monitoring system for a mobile body as recited in claim 1 or 2,

the monitoring information acquisition unit receives a positioning signal broadcast from a satellite, calculates position information of the own handset as the monitoring information based on the received positioning signal,

the 1 st wireless communication unit synchronizes with the 1 st wireless communication unit of the other slave unit based on the time information included in the positioning signal.

8. A monitoring system for a mobile body includes a plurality of slave units respectively mounted on a plurality of mobile bodies, and a master unit time-division multiple access-connected to each of the slave units,

each of the sub-units includes:

a 1 st wireless communication unit that wirelessly transmits the monitoring information acquired by the monitoring information acquisition unit in a time slot allocated to the own slave unit,

the 2 nd wireless communication unit transmits a loss signal indicating a slave unit when the reception of the monitoring information from the slave unit fails,

the 1 st wireless communication unit receives the monitoring information in a time slot corresponding to the slave unit indicated by the loss signal when receiving the loss signal, and transfers the received monitoring information to the master unit.

9. The monitoring system for a mobile object as set forth in claim 8,

the 1 st wireless communication unit determines an available time slot that is free among time slots corresponding to the slave unit indicated by the lost signal, and transfers the monitoring information of the slave unit indicated by the lost signal in the available time slot.

10. The monitoring system for a mobile object as set forth in claim 9,

the 2 nd wireless communication unit specifies an available slot that is free among the slots corresponding to the slave units indicated by the loss signal,

the 1 st radio communication unit transfers the monitoring information of the slave unit indicated by the loss signal in the available time slot specified by the 2 nd radio communication unit.

11. The monitoring system for a moving body as recited in any one of claims 8 to 10,

the monitoring system for a moving body includes a plurality of the base units,

12. The monitoring system for a mobile object as set forth in claim 11,

13. The monitoring system for a moving body as recited in any one of claims 8 to 10,

14. A slave unit which is worn on a mobile body and performs time division multiple access with a master unit, the slave unit comprising:

a wireless communication unit for wirelessly transmitting the monitoring information in a time slot allocated to the slave unit,

the wireless communication unit, upon receiving a loss signal indicating another slave unit which is not connectable to the master unit and transmitted from the master unit, receives monitoring information from the other slave unit in a time slot allocated to the other slave unit indicated by the loss signal, and transfers the received monitoring information to the master unit.

15. A slave unit which is worn on a moving body to be monitored and performs time division multiple access with a master unit, comprising:

a wireless communication unit for wirelessly transmitting the monitoring information to the slave unit in a time slot allocated to the slave unit, and for receiving the monitoring information transmitted from the other slave units in a time slot allocated to each slave unit other than the time slot,

the wireless communication unit, when receiving a loss signal indicating another slave unit which cannot be connected to the master unit and which is transmitted from the master unit in a time slot allocated to the master unit, transfers to the master unit monitoring information of the other slave unit indicated by the loss signal received before the reception of the loss signal.

16. A master unit which performs time division multiple access with a plurality of slave units respectively mounted on a plurality of mobile units,

the master unit includes a wireless communication unit for wirelessly receiving monitoring information of each slave unit transmitted from each slave unit,

the wireless communication unit transmits a loss signal indicating a slave unit when the monitoring information received from the slave unit fails, and receives monitoring information of the slave unit indicated by the loss signal from a slave unit other than the slave unit indicated by the loss signal.

17. The master of claim 16,

the master unit further includes a display unit for displaying the monitoring information received by the wireless communication unit.

18. A mobile object monitoring method using a plurality of slave units each mounted on a plurality of mobile objects and a master unit time-division multiple access-connected to each slave unit, the mobile object monitoring method comprising:

acquiring, by a monitoring information acquisition unit of each slave unit, monitoring information of a moving body on which the slave unit is mounted;

the monitoring information is wirelessly transmitted by the 1 st wireless communication unit of each slave unit in a time slot allocated to the slave unit, and the monitoring information transmitted by each other slave unit is received in a time slot allocated to each slave unit other than the time slot,

the 2 nd wireless communication part of the master unit wirelessly receives the monitoring information transmitted from each slave unit,