EP1069541B1

EP1069541B1 - Mobile object monitoring system

Info

Publication number: EP1069541B1
Application number: EP00305952A
Authority: EP
Inventors: Koji c/o Hitachi Ltd. Kurimura; Munetoshi c/o Hitachi Ltd. Unuma; Susumu c/o Hitachi Ltd. Okamura
Original assignee: Hitachi Ltd
Current assignee: Hitachi Ltd
Priority date: 1999-07-16
Filing date: 2000-07-13
Publication date: 2004-10-20
Anticipated expiration: 2020-07-13
Also published as: EP1069541A2; EP1069541A3; DE60015021T2; JP2001034871A; DE60015021D1

Description

The present invention relates to a system in which the position of a terminal unit acting as a moving body remote from a center and the operating state of a person carrying the terminal unit are supervised from a center-side computer through a communication line, and relates to a terminal unit of the system.
A pendant-shaped telephone set, which can be carried by an old person living alone, or the like, is known. When an "emergency" button of the pendant is pushed down, the center is informed of the emergent state of a user through a telephone network. Hence, a consultant who is a member of the center can take measures in response to the emergent state by speaking to the user by telephone. A special telephone set having an "emergency" button and a "consultation" button is used in another emergency information system. When one of the buttons on the special telephone set is pushed down, a computer of an emergency information center is informed so that a consultant of the center can take measures in response to the state of the user by speaking to the user while watching a display screen.
There is further known a moving body supervising system in which a terminal unit carried and moved with a poriomaniac old person detects positional information by a GPS (global positioning system) and informs a center of the positional information to thereby make the system recognize the position of the terminal unit.
The terminal unit used in the aforementioned moving body supervising system is expected to have a function of informing the center of the emergent state by the terminal unit-carrying person's will as well as the function of informing the center of the position of the terminal unit automatically. The terminal unit is also expected to have a function of making the user notice his or her mistake and making the user cancel the emergent state when the user pushes down the emergency information button by mistake. The terminal unit is further expected to have a function of recognizing a disabled state of the terminal unit-carrying person automatically and informing an external of the disabled state when the terminal unit-carrying person is in the disabled state in which the emergency information button cannot be pushed down by the person himself or herself.
United States Patent US4,535,324 discloses an alarm activator which is in the form of a ring transmitter and which can be squeezed readily to activate an alarm by either ultrasonic or radio or infra-red waves.
French Patent FR2731289 discloses a technique based on the coupling of location data received by radio with data giving information on dangerous and/or abnormal situations which people may experience.
German Patent DE4441907 discloses an emergency medical response system which includes a monitor for detecting a potential emergency medical condition, a position receiver such as a GPS receiver and a transmitter. When an emergency medical condition is detected, the transmitter is energised to send the current position of a patient where in a system to any MS site
Preferably, an object of the present invention is to make a terminal unit alarm/inform an external of an emergent state of a person carrying the terminal unit by the person's action when the person is in such an emergent state.
Preferably, another object of the present invention is to make a terminal unit recognize an emergent state of a person carrying the terminal unit and alarm/inform the outside of the emergent state automatically when the person is in such an emergent state.
Preferably, a further object of the present invention is to reduce wrong information which is made to the external by terminal-side mistake, or the like.
Preferably, a still further object of the present invention is to make a terminal unit summarize positional information and operating information of the terminal unit into the form of a behavior history and inform the external of the behavior history when the terminal unit is not emergent.
In a first aspect, the present invention provides a terminal unit according to Claim 1. Further preferred features of the invention are set out in the attached claims.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1A is a configuration diagram of a moving body supervising system in an embodiment according to the present invention;
Fig. 1B is a diagram showing the configuration of each terminal unit 3 in the system in the embodiment;
Fig. 2 is a diagram showing the internal configuration of the center computer 4 in the system in the embodiment;
Fig. 3A is a flow chart showing a flow of processing caused by the operation of pushing down the emergency information switch 23 in the system in the embodiment;
Fig. 3B is a flow chart (continued from Fig. 3A) showing a flow of processing caused by the operation of pushing down the emergency information switch 23 in the system in the embodiment;
Fig. 4A is a flow chart showing a flow of processing for automatically recognizing the terminal unit's toppling when the terminal unit 3 in the system topples over in the embodiment;
Fig. 4B is a flow chart (continued from Fig. 4A) showing a flow of processing for automatically recognizing the terminal unit's toppling when the terminal unit 3 in the system topples over in the embodiment; and
Fig. 5 is a flow chart showing a flow of processing in the terminal unit 3 for transmitting behavior history information to the center computer 4 in the embodiment.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments of the present invention will be described below with reference to the drawings.
Fig. 1A shows a configuration of a moving body supervising system in an embodiment according to the present invention. Each of terminal units 3-1 ~ 3-n is a portable unit carried by a person or by a vehicle. As shown in Fig. 1B, each of the terminal units 3 has a terminal unit body, a GPS antenna 16 for catching radio wave transmitted from a GPS satellite 6, and a portable telephone set 18. A center computer 4 is a computer, such as a personal computer, which communicates with a specific terminal unit 3 through a telephone network 5, acquires information concerning the position of the terminal unit 3 and information concerning the operating state of the person or vehicle carrying the terminal unit 3 from the GPS satellite 6 and displays such information on a display device. Incidentally, the telephone network 5 may be replaced by a communication line such as a wireless or wire packet communication network, an ISDN network, a wireless communication network, etc. The GPS may be also replaced by a position detecting system using a position registering function by means of PHS or cellular telephone or replaced by a position detecting system using the electric field intensity or flight time of electromagnetic wave.
When this system is operated, generally, a plurality of terminal units 3 are used. Hence, the plurality of terminal units are designated by the reference numerals 3-1, ..., and 3-n respectively. In the following description, any one of the terminal units 3-1 ~ 3-n will be merely called "terminal unit 3" for simplicity.
Fig. 1B diagrammatically shows the internal configuration of the terminal unit 3. A CPU 11 is a processor such as a micro-processor. An ROM 12 is a storage device for storing a control program. An RAM 13 is a storage device for storing commands transmitted from the center computer 4 and temporarily storing various kinds of data. A GPS receiver 14 is a device for generating GPS data containing positional information from a signal received from the GPS satellite 6. A GPS power supply 15 supplies electric power to the GPS receiver 14. The GPS power supply 15 can be controlled to be switched on/off by a judgement of the terminal unit 3 or by an instruction given from the CPU 11. A GPS antenna 16 catches a GPS signal transmitted from the GPS satellite 6. An acceleration sensor 17 measures the acceleration of the terminal unit 3 which is a moving body. The acceleration sensor 17 may be replaced by a vibration meter for measuring vibration. A portable telephone set 18 is used as a general portable telephone set and used for exchanging information with the center computer 4 through the telephone network 5. A modem 19 performs data communication by using the telephone network 5. A communication controller 20 controls exchange of information with the center computer 4.
A buzzer controller 21 controls a buzzer incorporated in the terminal unit 3 to sound in accordance with a drive instruction given from the CPU 11. A plurality of tones may be provided as tones of the buzzer so that each tone can be used according to the purpose. The buzzer may be replaced by a sound generating device for outputting sound. An LED controller 22 controls an LED incorporated in the terminal unit 3 to emit light in accordance with a drive instruction given from the CPU 11. A plurality of display colors may be provided as display colors of the LED so that each display color can be used according to the purpose. The LED may be replaced by another light-emitting mechanism such as a strobe to facilitate good visibility in the bright place. A distinction as to whether the buzzer is to be driven or not, and a distinction as to whether the LED is to be driven or not, can be set initially in the terminal unit 3. An emergency information switch 23 generates interruption in the CPU 11 and transmits an emergent state to the control program when the user pushes down the switch.
The CPU 11, the RAM 13, the GPS receiver 14, the GPS power supply 15, the acceleration sensor 17, the communication controller 20, the buzzer controller 21, the LED controller 22 and the emergency information switch 23 are connected to one another through an interface 24 such as a bus. Incidentally, the respective constituent devices of the terminal unit 3 except the GPS receiver 14 are supplied with electric power from another system power supply not shown. The GPS power supply 15 and the system power supply may be replaced by a common power supply so that the power supply line between the system power supply and the GPS receiver 14 can be controlled to be switched on/off by an instruction given from the CPU 11. Also in this case, the common power supply will be called "GPS power supply" hereunder.
Incidentally, the terminal unit 3 is configured so that the clock frequency of the CPU 11 may be reduced in accordance with a command given from the center computer 4. This function makes it possible for the terminal unit 3 to reduce electric power consumption by reducing the clock frequency of the CPU 11 with respect to low-load processing. With respect to high-load processing, the clock frequency of the CPU 11 may be restored to the ordinary clock frequency.
Fig. 2 diagrammatically shows the internal configuration of the center computer 4. A storage device 42 connected to a processor 41 stores a moving body supervising program 50. The moving body supervising program 50 is read into a memory of the processor 41 and executed by the processor 41. A display device 46 is connected to the processor 41 and displays the position of the user on a map, user's operation information, satellite information, etc. An input device 47 is a device such as a keyboard, a mouse, or the like, for giving an instruction to the moving body supervising program 50, for example, to specify a subject of supervision. A modem 49 is a device for connecting/disconnecting the line to/from the partner terminal unit 3 and converting a signal on the telephone network 5 and digital data into each other. A communication controller 48 controls exchange of information with the terminal unit 3.
When the terminal unit 3 receives a command to drive the buzzer and/or the LED from the center computer 4 in the condition that the terminal unit 3 is connected to the center computer 4 through the telephone network 5, the control program of the terminal unit 3 drives the buzzer controller 21 and/or the LED controller 22 while teaching a designated tone or display color.
Figs. 3A and 3B are flow charts showing a procedure of processing in the control program of the terminal unit 3 when the emergency information switch 23 is depressed. A flag indicating an emergency mode on the memory takes either a value of 0 or a value of 2, in which 0 indicates a normal mode, and 2 indicates an emergency information mode. The initial value after switching on the terminal power supply is 0. An emergency information mode shift timer, a warning time timer and a buzzer/LED clear timer are used as three kinds of timers. The emergency information mode shift timer is a timer for detecting the fact that the emergency information switch 23 has been depressed for a predetermined time when the emergency mode is in a normal mode. The warning time timer is an interrupt timer for detecting the fact that the point of time to inform the center computer 4 has come because a predetermined warning time has elapsed when the emergency mode is in an emergency information mode. When the emergency mode is in an emergency information mode, the terminal unit 3 drives the buzzer controller 21 and/or the LED controller 22 until the waning time elapses. The buzzer/LED clear timer is a timer for detecting the fact that the emergency information switch 23 has been depressed for a predetermined time to cancel the buzzer/LED.
When the emergency information switch 23 is depressed by the user, hardware interruption is generated in the CPU 11 so that the control program detects the fact that the emergency information switch 23 is depressed (step 51). If the line is in connection, that is, if the terminal unit 3 is connected to the center computer 4 through the telephone network 5 (step 52, "YES"), the terminal unit 3 transmits a command to the center computer 4 to indicate the fact that the switch is depressed to thereby inform the center computer 4 of the fact (step 53).
If the line is not in connection (step 52, "NO") and the emergency mode flag is 0 (step 54, "0"), the state of the emergency information switch 23 is read (step 55). If the emergency information switch 23 is not depressed (step 56, "NO"), the interrupt processing is terminated. If the emergency information switch 23 is still depressed (step 56, "YES"), the emergency information mode shift timer is started (step 57) and the state of the emergency information switch 23 is read again (step 58). When the depression of the emergency information switch 23 is continued, steps 58 to 60 are repeated until the emergency information mode shift time is elapses. When the depression of the emergency information switch 23 is continued until the emergency information mode shift time is passed (step 60, "YES"), the emergency mode flag is updated to 2 (step 61) and the warning time timer is started (step 62). After the interrupt processing is then terminated, the situation of the procedure goes back to the step before the interrupt processing.
When the depression of the emergency information switch 23 is continued, the depression of the emergency information switch 23 is further detected by hardware interruption (step 51). If the line is not in connection, the fact that the emergency mode flag is 2 is detected (step 54, "2"). The situation of the procedure then goes to Fig. 3B and one of the buzzer controller 21 and the LED controller 22 selected in initial setting is driven (step 71). If the warning time does not elapse (step 72, "NO"), the state of the emergency information switch 23 is read (step 73). If the emergency information switch 23 is being depressed (step 74, "YES"), the buzzer/LED clear timer is started (step 75) and the state of the emergency information switch 23 is read again (step 76). When the depression of the emergency information switch 23 is continued, steps 76 to 78 are repeated until the buzzer/LED clear time elapses. When the depression of the emergency information switch 23 is continued until the clear time elapses (step 78, "YES"), the emergency mode flag is reset to 0 (step 79), the driving on the buzzer controller 21/LED controller 22 is stopped (step 80) and the processing is terminated. Incidentally, the depression of the emergency information switch 23 in the steps 74 and 77 may be replaced by the depression of a clear switch not shown.
When interruption from the warning time timer is generated and detected by the control program (step 81), the line is connected to the center computer 4 (step 82) because the warning time elapses (step 72, "YES"). Then, the emergency mode flag is reset to 0 (step 83) and the driving on the buzzer controller 21/LED controller 22 is stopped (step 84). Then, a command indicating the fact that the switch is depressed is transmitted to the center computer 4 to thereby inform the center computer 4 of the fact (step 85).
According to the procedure of processing caused by the depression of the emergency information switch 23, the buzzer and/or the LED is driven when the emergency information switch 23 has been depressed for a predetermined time. Hence, it can be found that the depression of the emergency information switch 23 has been already accepted and that the terminal unit 3 has gotten into a mode to give information of the center computer 4. Hence, a sense of security can be given to the user. When a predetermined time elapses while the buzzer/LED is continued to be driven, the center computer 4 is informed of the depression of the emergency information switch 23. When the fact that the emergency information switch 23 is depressed by mistake is found by the user from the driving on the buzzer/LED, the user can cancel the emergency information mode to restore the emergency mode from the emergency information mode to a normal mode by depressing the emergency information switch 23 until the driving on the buzzer/LED is stopped.
Figs. 4A and 4B are flow charts showing a procedure of processing in an automatic recognition program of the terminal unit 3 for automatically recognizing the fact that the terminal unit 3 topples over. A flag indicating a topple mode on the memory takes any one of values 0, 1 and 2, in which 0 shows a normal mode, 1 shows a mode indicating a shift time to an emergency information mode, and 2 shows an emergency information mode. The initial value of the topple mode after the turning-on of the terminal power supply is 0. An emergency information mode shift timer and a warning time timer are used as two kinds of timers. The emergency information mode shift timer is a timer for detecting the fact that the terminal unit 3 has toppled over for a predetermined time when the topple mode is in a shift mode. The warning time timer is a timer for detecting the fact that the point of time to inform the center computer 4 has come because the predetermined warning time elapses when the topple mode is in an emergency information mode. When the topple mode is in an emergency information mode, the terminal unit 3 drives the buzzer controller 21 and/or the LED controller 22 until the warning time elapses. The control program shown in Figs. 4A and 4B is executed periodically when execution of an automatic topple recognition process is selected at initial setting.
The automatic recognition program judges the value of the topple mode flag (step 91). If the topple mode flag is 0 (step 91, "0"), the value of the acceleration sensor 17 is read and the acceleration value is calculated (step 92). When the acceleration value is not lower than a topple threshold (step 93, "NO"), the process is terminated because the terminal unit 3 does not topple over. When the acceleration value is lower than the topple threshold (step 93, "YES"), the emergency information mode shift timer is started (step 94) and the topple mode is updated to a shift mode of "1" (step 95).
When the flag of the topple mode is not 0 (step 91, "1" or "2") but 1 (step 96, "1"), the value of the acceleration sensor 17 is read and the acceleration value is calculated (step 97). When the acceleration value is not lower than the topple threshold (step 98, "NO"), the topple mode flag is reset (step 99) and the process is terminated because the terminal unit 3 is restored from a topple state to a normal state. When the acceleration value is lower than the topple threshold (step 98, "YES"), the process is terminated if the emergency information mode shift time does not elapse (step 100, "NO"). If the emergency information mode shift time elapses (step 100, "YES"), the topple mode flag is updated to an emergency information mode (step 101) and the warning time timer is started (step 102).
When the automatic recognition program detects the topple mode flag = 2 (step 96, "2"), the situation of the process goes to Fig. 4B. One of the buzzer controller 21 and the LED controller 22 which is selected at initial setting is driven (step 111). If the warning time does not elapse by reference to the warning time timer (step 112, "NO"), the value of the acceleration sensor 17 is read and the acceleration value is calculated (step 113). When the acceleration value is not lower than the topple threshold (step 114, "NO"), the topple mode flag is reset (step 115) and the process is terminated because the terminal unit 3 is restored from a topple state to a normal state. When the acceleration value is lower than the topple threshold (step 114, "YES"), the process is terminated.
If the warning time is passed (step 112, "YES"), the line is connected to the center computer 4 (step 116). Then, the topple mode flag is reset to 0 (step 117) and the driving on the buzzer controller 21/LED controller 22 is stopped (step 118). Then, a command indicating emergency information is transmitted to the center computer 4 to thereby inform the center computer 4 of the emergency information mode (step 119).
According to the automatic recognition process for detecting the toppling of the terminal unit 3, the automatic recognition program of the terminal unit 3 drives the buzzer/LED after a predetermined shift time in the condition that the user makes the terminal 3 toppled over but cannot call for help. Hence, the user can find that the terminal unit 3 has gotten into a state enabled to inform the center computer 4. Hence, a sense of security can be given to the user. When a predetermined time elapses while the driving on the buzzer/LED continues, the terminal unit 3 informs the center computer 4 of the emergency information mode. When the fact that the terminal unit 3 is made to topple over by mistake is found by the user from the driving on the buzzer/LED, the user can cancel the emergency information mode to restore the emergency information mode to a normal mode by returning the terminal unit 3 to a normal position. On this occasion, the user can operate the emergency information switch processing program to stop the driving on the buzzer/LED by continuously depressing the emergency information switch 23. If the user returns the terminal unit 3 to a normal position in the shift time, the shift mode is canceled without driving the buzzer/LED so that the mode is restored to a normal mode.
Incidentally, the method in which the terminal unit 3 automatically recognizes the toppling of the terminal unit 3 itself and drives the buzzer/LED may be replaced by a method in which the operation is carried out as follows. That is, the terminal unit 3 reads the value of the acceleration sensor 17 and transmits the acceleration sensor value to the center computer 4; the moving body supervising program 50 of the center computer 4 calculates automatic recognition information from the acceleration sensor value; and when the program 50 judges the toppling of the terminal unit 3, the center computer 4 transmits a command to the terminal unit 3 to drive the buzzer controller 21/LED controller 22 to operate the buzzer/LED.
Although the aforementioned embodiment has been described upon the recognition of toppling as an example of automatic recognition, the terminal unit 3 can identify respective states of walking, running, falling down, and immovable for a predetermined time or more as the behavior of the terminal unit-carrying person. Hence, when the terminal unit 3 recognizes an abnormal operation such as running or immovable for a predetermined time or more as well as toppling, the terminal unit 3 may perform the aforementioned process by judging the person to be in an emergency state. When, for example, a guard pursues a questionable person, an emergency state "running" may occur. When the terminal unit 3 detects the change in state from an abnormal operation into a normal operation within the warning time after detecting the abnormal operation, the terminal unit 3 cancels the emergency state.
The terminal unit 3 reads the value of the acceleration sensor 17 periodically, calculates operating recognition information of the terminal unit 3 and stores the information as a behavior history in the RAM 13. When a request to output the history information is received from the center computer 4, the terminal unit 3 switches on the GPS power supply 15, performs a positioning process and transmits positioning information and operating recognition information in the RAM 13 to the center computer 4. After the transmission of information to the center computer 4, the terminal unit 3 switches off the GPS power supply 15. Because only the results of operating recognition instead of the acceleration sensor values are stored in the memory, the quantity of information can be reduced so that a great deal of behavior history data can be stored. Further, because only the results of operating recognition are transmitted to the center computer 4, the quantity of data to be transmitted can be reduced.
Fig. 5 is a flow chart showing a flow of processing in the control program of the terminal unit 3 showing another embodiment in which behavior history information stored in the terminal unit 3 is transmitted to the center computer 4. The terminal unit 3 reads the value of the acceleration sensor 17 periodically and calculates operating recognition information of the terminal unit 3. The terminal unit 3 further drives the GPS receiver 14 periodically to acquire positional information of the terminal unit 3 and calculate the positioning information. The thus calculated operating recognition information and positioning information are stored in the RAM 13.
When the transmission time interval of the behavior history is received on the basis of a command from the center computer 4, the transmission time interval is registered and held in the memory (step 121) and the history transmission interval timer is started (step 122). When interruption from the history transmission interval timer is generated, the control program detects the interruption (step 123), and the line is connected to the center computer 4 (step 124). Then, the positioning information and operating recognition information in the RAM 13 are transmitted to the center computer 4 (step 125). Then, a judgment is made as to whether transmission of history data is performed by a pre-registered number of times or not (step 126). When the number does not reach the preset value (step 126, "NO"), the situation of the process goes back to the step 122. When the number reaches the preset value (step 126, "YES"), the process is terminated.
According to the process shown in Fig. 5, the center computer 4 can acquire behavior information (positional information and operating information) of the terminal unit 3 at regular time intervals. Moreover, the quantity of data to be transmitted to the center computer 4 can be reduced. Moreover, the center computer 4 need not perform task management for each terminal unit 3 because each terminal unit 3 itself monitors the transmission time interval compared with a method in which the center computer 4 monitors the transmission time interval so that the center computer 4 issues a request to the terminal unit 3 to output history information when the point of time to transmit history information has come. Hence, the center computer 4 is free from such task management.
The GPS satellite 6 transmits detailed orbit information of the satellite to the terminal unit 3. The valid time of the detailed orbit information is in a range of from 1 to 1.5 hours. When the GPS power supply 15 is switched on within the valid time to receive detailed orbit information again, positional information can be acquired in a short time. The terminal unit 3 can acquire positional information fast by repeating an operation of switching on the GPS power supply 15 within the valid time to acquire detailed orbit information and switching off the GPS power supply 15 again. When response of the GPS is lost in such intermittent reception, the terminal unit 3 informs the center computer 4 of the lost response.
The terminal unit 3 measures the voltage of the system power supply, for example, the voltage of a battery of the terminal unit 3 periodically. When the voltage is lower than a fixed value, the terminal unit 3 drives the buzzer controller 21/LED controller 22 to give an alarm with a tone/display color different from that in the case of emergency information. If the battery is exchanged for a new one, driving the buzzer/LED is stopped and the terminal unit 3 is restored to a normal state. Alternatively, the terminal unit 3 may measure the voltage of the battery of the terminal unit 3 periodically and may inform the center computer 4 when the voltage is lower than a fixed value. Alternatively, the terminal unit 4 may measure the voltage of the battery to inform the center computer 4 of the measured value when the terminal unit 3 receives a command to check the residual quantity of the battery from the center computer 4.
As described above, in accordance with the present invention, a person carrying a terminal unit can inform the outside of an emergency state by depressing an emergency information switch when the person gets into an emergency state. At the same time, the person can confirm that the outside is informed of the emergency state. Moreover, when the person carrying the terminal unit gets into such a state that the person cannot depress the emergency information switch, the terminal unit automatically recognizes the abnormal operation of the person carrying the terminal unit and the terminal unit can inform the outside of the emergency state. At the same time, the person can confirm that the outside is informed of the emergency state. In addition, wrong information transmitted to the center by terminal-side mistake, or the like, can be reduced.

Claims

A terminal unit (3) comprising:

an emergency information switch (23) for enabling a user to inform a remote center computer (4) of an emergent state;

means (21, 22) for giving an alarm to the user by at least one means of sound and light emission upon detection of said emergency information switch being actuated for a first predetermined time or more;

means (18, 19, 20) for informing the remote center computer (4) of said emergent state when said alarm continues for a second predetermined time;

means (21, 22) for stopping said alarm and cancelling said emergent state upon detection of said emergency information switch (23) being actuated again for a third predetermined time or more during said second predetermined time in which said alarm is continued;

means (17) for detecting an abnormal operation distinguished from a normal operation of a user carrying said terminal unit;

wherein the means (21, 22) gives the alarm to the user upon detection that said user carrying said terminal unit is in a state of said abnormal operation for a fourth predetermined time or more; characterised in that the means (21, 22) cancels said emergent state when the state of said user carrying said terminal unit changes from said abnormal operation to said normal operation during said second predetermined time in which said alarm continues.
A terminal unit (3) according to Claim 1, further comprising:

means for measuring a voltage of a battery periodically; and

means (21, 22) for giving an alarm to the user by at least one means of sound and light emission when said voltage of said battery is lower than a fixed value.
A terminal unit (3) according to claim 1 comprising:

means (14, 15) for acquiring positional information and operating recognition information of said terminal unit itself periodically and storing said information as a behavior history in a memory; and

means (18, 19, 20) for informing the remote center computer (4) of said behavior history periodically.
A system for supervising a moving body (3), comprising a center-side computer (4), and terminal units each according to claim 1 (3-1, ..., 3-n) each provided as said moving body and connected to said center-side computer through a communication line (5) so that a state of each of said terminal units is supervised by said center-side computer.
A system for supervising a moving body (3) according to Claim 4, wherein each of said terminal units (3-1, ..., 3-n) further comprises:

means for measuring a voltage of a battery periodically; and

means (18, 19, 20) for informing said center-side computer (4) when said voltage of said battery is lower than a fixed value.
A system for supervising a moving body (3) according to claim 4,
wherein each of said terminal units comprises:

means (14, 15) for acquiring positional information and operating recognition information of said terminal unit itself periodically and storing said information as a behavior history in a memory; and

means (18, 19, 20) for informing said center-side computer of said behavior history periodically.