JP2007327839A - Mobile unit monitoring system and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile unit monitoring system for monitoring a plurality of free mobile units over a wide range. <P>SOLUTION: Transmission radio waves are radiated from at least one omnidirectional transmitter 2, having a range that is within which the transmission radio waves effectively arrive as a monitoring area 10 and is received by an omnidirectional transmitter/receiver 9 attached to each mobile unit 8. In response to the reception of the transmission radio waves, a call is transmitted from the omnidirectional transmitter/receiver 9 by a radio wave, on the basis of own identification code and is received by at least one omnidirectional receiver 3 and the connection of communications is completed. After the completion of the connection of communication, a confirmation signal, indicating that the connection of communications with respect to the omnidirectional transmitter-receiver 9 with the identification code has been established, is output from the omnidirectional receiver 3 to a main-unit controller 1. The main-unit controller 1 instructs the omnidirectional transmitter 2 to perform transmission, decides whether the mobile unit 8 exists within the monitoring area 10, when the confirmation signal is received from the omnidirectional receiver 3, and decides that it does not exist there, when reception of the confirmation signal is disabled. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a moving body monitoring system and method, and more particularly, to a moving body monitoring system and method suitable for monitoring a person and a non-human animal, a vehicle, and the like.

  Conventionally, as a monitoring system for elderly people, for example, there is one disclosed in Patent Document 1 below. In this old man monitoring system, a moving person such as an old man has a transmitter that emits an ID code, and a detector that detects the radio signal of this transmitter passes not only inside the building but also old people etc. Such outdoor gates, fences, telephone poles, standing poles, etc. are installed within a few hundred meters around the building, and each detector has built-in location information (location code) corresponding to the installation location. A system is constructed by installing an alarm device that receives a detection signal from the detector and issues an alarm. Therefore, the search can be performed even when an elderly person is hesitant outside the building.

However, in the above prior art, since a monitoring area is constructed only by a transmitter and a detector, a large monitoring area cannot be established unless a large number of detectors are always placed in a movable state. In addition, the transmitter attached to the moving body must be used in a constantly transmitting state. When the number of moving bodies is large, the radio waves of other moving bodies are masked by one strong outgoing radio wave, There is a risk of not being able to grasp. Therefore, there is a problem that it is not necessarily suitable for monitoring a plurality of free moving bodies over a wide range.
Japanese Patent Laid-Open No. 11-120458

  The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to provide a moving body monitoring system and method suitable for monitoring a plurality of free moving bodies over a wide range. There is to do.

  The above object of the present invention is achieved by the following means.

  (1) It is attached to at least one transmission device arranged to establish within the effective reach of its own transmission radio wave as a monitoring area, and a mobile object to be monitored that should be located in the monitoring area, An omnidirectional transmission / reception device that receives a transmission radio wave from the transmission device and transmits a call by radio wave based on its identification code in response to the transmission radio wave, and installed in a position sufficient to monitor the monitoring area After receiving the call by the transmission radio wave from the omnidirectional transmission / reception device and completing the communication connection, at least one outputs a confirmation signal indicating that the communication with the omnidirectional transmission / reception device of the identification code has been established. And a main body control device that determines whether or not the moving body is in a monitoring area when the transmitting device is instructed to transmit to the transmitting device and then receives the confirmation signal from the receiving device. And have Mobile monitoring system according to claim Rukoto.

  (2) The mobile body monitoring system according to (1), wherein the transmitting device is an omnidirectional transmitting device, and the receiving device is an omnidirectional receiving device.

  (3) The moving body monitoring system according to (1) or (2), wherein the monitoring area is movable by moving at least one of the transmitting device and the receiving device.

  (4) The mobile unit according to any one of (1) to (3), wherein the signal generated from the omnidirectional transmission / reception device includes data indicating an attribute of the mobile unit. Monitoring system.

  (5) From the series of times that the transmission signal from the omnidirectional transmission / reception device, which is emitted to respond to the main body control device that is emitted from the transmission device, arrives at the reception device, The moving body monitoring system according to any one of (1) to (4) above, further comprising means for determining whether the moving body is moving away from or approaching the receiving device.

  (6) The main body control device gives a transmission instruction to the transmitting device a plurality of times, and based on the difference in time required to receive the confirmation signal for each time obtained thereby, the position of each mobile unit The moving body monitoring system according to any one of the above (1) to (5), further comprising means for calculating a moving direction and a speed.

  (7) The above (1), wherein a plurality of the transmitting devices are provided, and each of the transmitting devices has means for transmitting with a predetermined time lag from each other when instructed to transmit from the main body control device. The moving body monitoring system according to any one of (1) to (6).

  (8) The main body control device is a series in which the omnidirectional transmission / reception device transmits a call by transmission radio waves transmitted from the plurality of transmission devices, and at least one of the reception devices receives the call. The moving body monitoring system according to (7), further comprising means for calculating a position, a moving direction, and a speed of each moving body based on a time difference required in the process.

  (9) The transmitting device includes means for communicating with the main body control device, and the main body control device individually calls each transmitting device to instruct transmission, and tests whether the confirmation signal can be received. When the confirmation signal is received when calling one of the transmitting devices individually and instructing the transmission, it is determined whether or not the mobile body is in the monitoring area, and all the transmitting devices are individually connected. Any of the above (1) to (8), further comprising means for determining that the moving body is not in the monitoring area when the confirmation signal cannot be received even if calling and instructing transmission The mobile body monitoring system as described in one.

  (10) The monitoring area is set as a first monitoring area, and the second monitoring area is positioned to be sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. Installed at a position sufficient to monitor the second monitoring area and at least one second area omnidirectional transmission device, receiving radio waves from the second area omnidirectional transmission device, At least one second area omnidirectional receiving device that confirms the moving object in the second monitoring area and the main body control device determine that the moving object is not in the first monitoring area. When the second area omnidirectional transmitter and the second area omnidirectional receiver are operated, the monitoring area is expanded or switched from the first monitoring area to the second monitoring area. Second Means for determining that the moving object is not in the second monitoring area when the confirmation signal of the moving object is not obtained from the second area omnidirectional receiver for the viewing area. The moving body monitoring system according to any one of (1) to (9) above (see FIG. 26).

  (11) The monitoring area is the first monitoring area, and the second monitoring area is positioned to be sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional direction tracking type directional transmission device arranged and a tracking radio wave from the directional direction tracking type directional transmission device installed in a position sufficient to monitor the second monitoring area are synchronized. And receiving at least one directional receiving device that tracks the moving object in the second monitoring area and the main body control device, and the moving object is in the first monitoring area. When it is determined that there is no, the directional direction tracking type directional transmission device and the directional reception device are operated to expand or switch the monitoring area from the first monitoring area to the second monitoring area, The second Means for determining that the moving body is not in the second monitoring area when the confirmation signal of the moving body cannot be obtained from the directional receiver for the monitoring area. (1)-(9) The mobile body monitoring system as described in any one (refer FIG. 27).

  (12) The monitoring area is set as a first monitoring area, and the second monitoring area is positioned to be sufficient to monitor the second monitoring area so as to establish a second monitoring area beyond the boundary of the first monitoring area. At least one directional tracking type directional transmission device arranged, and installed at a position sufficient to monitor the second monitoring area, and receives tracking radio waves from the directional direction tracking directional transmission device Then, at least one omnidirectional receiving device that tracks the moving object in the second monitoring area and the main body control device determine that the moving object is not in the first monitoring area. The directional direction tracking directional transmitter and the omnidirectional receiver are operated to expand or switch the monitoring area from the first monitoring area to the second monitoring area. Monitoring And a means for determining that the moving body is not in the second monitoring area when a tracking signal of the moving body cannot be obtained from the omnidirectional receiver for rear. The mobile body monitoring system according to any one of 1) to (9) (see FIG. 30).

  (13) Attached to at least one transmission device arranged to establish within the effective reach of its own transmission radio wave as a monitoring area, and a mobile object to be monitored that should be located in the monitoring area, An omnidirectional transmission / reception device that receives a transmission radio wave from the transmission device and transmits a call by radio wave based on its identification code in response to the transmission radio wave, and installed in a position sufficient to monitor the monitoring area After receiving the call by the transmission radio wave from the omnidirectional transmission / reception device and completing the communication connection, at least one outputs a confirmation signal indicating that the communication with the omnidirectional transmission / reception device of the identification code has been established. Main body control for determining whether or not the mobile body is in the monitoring area when receiving the confirmation signal from the receiving device for the transmission autonomously performed by the receiving device and the transmitting device apparatus Mobile monitoring system characterized by having,.

  (14) The transmission radio wave is radiated from at least one transmission device whose monitoring area is within the effective reach of the transmission radio wave, and the transmission radio wave is attached to a moving object that is to be monitored within the monitoring area. In response to reception of the transmission radio wave, the omnidirectional transmission / reception device transmits a call by radio wave based on its identification code, and the call is transmitted to the monitoring area. Is received by at least one receiving device installed in a position sufficient to monitor the communication, and the connection of communication is completed. After the connection of the communication is completed, the receiving device and the omnidirectional transmission / reception device of the identification code When a confirmation signal indicating that communication connection has been made is output to the main body control device, and when the main body control device receives the confirmation signal from the receiving device after instructing the transmitting device to transmit, The moving object is monitored Moving object monitoring method characterized by determining whether being in the A, determines that the confirmation signal is absent in the case of not be received.

  (15) The moving body monitoring method according to (14), wherein the transmitting device is an omnidirectional transmitting device, and the receiving device is an omnidirectional receiving device.

  (16) The moving body monitoring system according to (14) or (15), wherein the monitoring area is movable by moving at least one of the transmitting device and the receiving device.

  (17) The mobile body according to any one of (14) to (16) above, wherein the signal emitted from the omnidirectional transmission / reception device includes data indicating an attribute of the mobile body. Monitoring system.

  (18) From the series of times when the transmission signal from the omnidirectional transmission / reception device, which is emitted to respond to the main body control device, which is emitted from the transmission device, arrives at the reception device, The mobile object monitoring method according to any one of (14) to (17), wherein it is determined whether the mobile object is moving away from or approaching the receiving device.

  (19) A plurality of transmission instructions are given from the main body control device to the transmitting device, and based on a difference in time required to receive the confirmation signal for each time, the position of each moving body, The moving body monitoring method according to any one of (14) to (18), wherein a moving direction and a speed are calculated.

  (20) The above (14) to (19), wherein a plurality of the transmitting devices are provided, and each transmitting device transmits with a predetermined time lag when instructed to transmit from the main body control device. The moving body monitoring method according to any one of the above.

  (21) In the main body control device, a series in which the omnidirectional transmission / reception device transmits a call by transmission radio waves transmitted from the plurality of transmission devices, and at least one of the reception devices receives the call. The moving body monitoring method according to (20), wherein the position, moving direction, and speed of each moving body are calculated based on the time difference required in the process.

  (22) Call each transmitter individually from the main body control device to instruct transmission, test whether or not the confirmation signal can be received, and check if any one of the transmitter devices is individually called to initiate transmission When the signal can be received, it is determined whether or not the moving body is in the monitoring area, and when the confirmation signal cannot be received even if all the transmitting devices are individually called and instructed to transmit, the moving body The moving body monitoring method according to any one of the above (14) to (21), wherein it is determined that is not in the monitoring area.

  (23) The monitoring area is set as a first monitoring area, and at least one second monitoring element arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area around the first monitoring area. The area omnidirectional transmission device and the second monitoring area are installed at positions sufficient to monitor, receive radio waves from the second area omnidirectional transmission device, and are in the second monitoring area. A second area omnidirectional receiving device for confirming the moving body, and when the main body control device determines that the moving body is not in the first monitoring area, the second area transmitting device And the second area omnidirectional receiver is activated to expand or switch the monitoring area from the first monitoring area to the second monitoring area, and the second monitoring area has no second area. finger Any one of the above (14) to (21), wherein when the confirmation signal of the moving body is not obtained from the sex receiving device, it is determined that the moving body is not in the second monitoring area. The moving body monitoring method described in FIG. 26 (see FIG. 26).

  (24) The monitoring area is set as a first monitoring area, and the second monitoring area is located at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional direction tracking type directional transmission device arranged and a tracking radio wave from the directional direction tracking type directional transmission device installed in a position sufficient to monitor the second monitoring area are synchronized. And receiving at least one directional receiving device that tracks the moving body in the second monitoring area, and the main body control device causes the moving body to move to the first monitoring area. If it is determined that the area is not within, the directivity tracking type directional transmission device and the directional reception device are operated to change the monitoring area from the first monitoring area to the second monitoring area. Enlarge or switch When the confirmation signal of the moving body is not obtained from the directional receiving device for the second monitoring area, it is determined that the moving body is not in the second monitoring area. The moving body monitoring method according to any one of (14) to (21) above (see FIG. 27).

  (25) The monitoring area is set as a first monitoring area, and the second monitoring area is located at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional tracking type directional transmission device arranged, and installed at a position sufficient to monitor the second monitoring area, and receives tracking radio waves from the directional direction tracking directional transmission device And at least one omnidirectional receiving device that tracks the moving object in the second monitoring area, and the main body control device allows the moving object to be in the first monitoring area. If not, the directional direction tracking directional transmitter and the omnidirectional receiver are operated to switch the monitoring area from the first monitoring area to the second monitoring area. 2 monitoring areas (14) to (21) above, wherein when the confirmation signal of the moving body is not obtained from the omnidirectional receiving apparatus, it is determined that the moving body is not in the second monitoring area. The moving body monitoring method as described in any one of (refer FIG. 30).

  (26) Transmitting radio waves are radiated from at least one transmitting device whose monitoring area is within the effective reach of the transmitting radio waves, and the transmitting radio waves are attached to a mobile object to be monitored that should be located in the monitoring area. In response to reception of the transmission radio wave, the omnidirectional transmission / reception device transmits a call by radio wave based on its identification code, and the call is transmitted to the monitoring area. The communication is received by the receiving device installed at a position sufficient to monitor the communication, and after the connection of the communication is completed, the communication connection from the receiving device to the omnidirectional transmission / reception device of the identification code is completed. When a confirmation signal indicating that the transmission has been made is output to the main body control device, and the main body control device receives the confirmation signal from the receiving device after the autonomous transmission by the transmission device, The moving object is in the monitoring area Moving object monitoring method characterized by determining whether there, it is determined that the confirmation signal is absent in the case of not be received.

  According to the present invention, regardless of the presence or absence of autonomous transmission of the transmission device, a call instruction is given to the transmission device as necessary or periodically to call the omnidirectional transmission / reception device of the mobile body, Since communication is sequentially performed between the omnidirectional transmission / reception device and the reception device, a large number of mobile objects can be monitored sequentially and efficiently. In addition, since the omnidirectional transmission / reception device of the mobile body only needs to respond and operate each time in response to a call, the mobile body has a transmitter attached to the mobile body so that a radio signal is always output with the maximum power. In comparison, an economical system with less battery consumption can be constructed. Therefore, a plurality of free moving bodies can be easily monitored over a wide range.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<First Embodiment>
FIG. 1 is a diagram showing an overall configuration of a moving object monitoring system according to a first embodiment of the present invention.

  The mobile monitoring system according to the present embodiment includes one omnidirectional transmitter 2 (mH) arranged to establish within the effective range of its own transmission radio wave as the monitoring area 10, and the monitoring area 10 Are attached to each of the two moving bodies 8 consisting of the first moving body 8a and the second moving body 8b to be monitored, and the omnidirectional transmitter 2 (mH). Installed in a position that is sufficient to monitor the monitoring area 10 and the omnidirectional transmission / reception device 9 (F) that receives the transmission radio wave from the radio and transmits a call by radio wave based on its own identification code in response thereto After receiving the call by the transmission radio wave from the omnidirectional transmission / reception device 9 (F) and completing the connection of communication, the communication connection with the omnidirectional transmission / reception device 9 (F) having the identification code was completed. Output confirmation signal (mobile object confirmation signal) The omnidirectional receiving apparatus 3 (mJ) and the omnidirectional transmitting apparatus 2 (mH) are instructed to transmit as necessary, and thereafter or autonomously, the omnidirectional transmitting apparatus 2 (mH) transmits. The main body control device 1 determines whether or not the moving body 8 (8a or 8b) is in the monitoring area 10 when the confirmation signal is received from the omnidirectional receiving device 3 (mJ). And have.

  Examples of usable antennas are shown in FIGS. As an omnidirectional antenna for an omnidirectional transmitter, there is a vertical antenna 23 made of a single conductor provided on a base 22 as shown in FIG. 2, and as an omnidirectional antenna for an omnidirectional receiver. 3A and 3B include a vertical antenna 24 provided on the base 22 and a vertical antenna 24 using a steel tower 25. In the omnidirectional antenna for the omnidirectional transmitter and the omnidirectional antenna for the omnidirectional receiver, the vertical antenna 23 and the vertical antenna 24 are arranged close to each other as shown in FIG. An integrated type or an integrated type in which the vertical antenna 23 and the vertical antenna 24 are arranged close to each other as shown in FIG. 4B can also be used.

  When the moving body 8 is a mechanical element such as an automobile, the omnidirectional transmission / reception device 9 attached to the moving body 8 includes an antenna built-in type (a) in which an antenna is housed in a case 26 as shown in FIG. Any of the antenna out-going type (b) in which the antenna 91 protrudes from the case 26 and the antenna separation type (c) in which the antenna 91 is provided separately from the case 26 and connected by a wire 92 may be adopted. .

  However, when the moving body 8 is a person or an animal, there is a possibility that the moving body 8 may be detached from the moving body 8. FIGS. 6A and 6B show a wearing form of the omnidirectional transmission / reception device 9 suitable for humans and animals. FIG. 6A shows a collar type for animals, FIG. 6B shows a pendant type for humans, and FIG. A watch type, (d) is a human ring type, (e) is a human fountain pen type, and (f) is a clip type attached to an underwear with a clip.

  The main body control device 1 is mainly composed of a computer having a CPU, a ROM, a RAM, a hard disk, a display, an input device, and a communication interface, and includes a monitoring alarm device 1a. The main body control device 1 and the omnidirectional transmission device 2 and the main body control device 1 and the omnidirectional reception device 3 are connected by a first wire 6 and a second wire 7 such as a communication cable, respectively. However, it can also be connected wirelessly. The main body control device 1 receives the function of instructing the omnidirectional transmission device mH to perform transmission and the confirmation signal from the omnidirectional reception device 3, so that the moving body 8 (8 a or 8 b) is in the monitoring area 10. It has a function of determining whether or not there is a function and a function of issuing an alarm from the alarm device 1a when the moving body 8 (8a or 8b) is not in the monitoring area 10.

  In this example, the description has been made using the omnidirectional transmitter 2 (mH), but an equivalent system can be constructed even if a directional transmitter is used. Details of the directional transmitter will be described later. In the following description, the omnidirectional transmitter 2 (mH) is used for explanation, but the same applies to the case of using a directional transmitter.

  Next, the operation will be described.

  In FIG. 1, first, the main body control device 1 instructs the omnidirectional transmission device 2 (mH) to transmit, or the omnidirectional transmission device 2 (mH) autonomously transmits. In response to this, the omnidirectional transmission device 2 transmits a call to the omnidirectional transmission / reception devices 9 of all the mobile bodies 8. Here, the communication protocol between the omnidirectional transmission apparatus 2 and all the omnidirectional transmission / reception apparatuses 9 is determined in advance as a common “unified protocol”, and the omnidirectional transmission apparatus 2 has its own identification code. As a basis, that is, as a part of the calling code, the omnidirectional transmission / reception device 9 is called.

  The called omnidirectional transmission / reception device 9 completes connection of communication with the omnidirectional transmission device 2 of the identification code and performs necessary communication. Then, the omnidirectional transmission / reception device 9 calls the omnidirectional reception device 3 with a dedicated protocol on the basis of its own identification code. At this time, if necessary, that is, if the number of mobile bodies 8 is large and mutual radio waves easily interfere with each other, each omnidirectional transmission / reception device 9 is self-timed accurately. Calling the omnidirectional receiver 3 with a time difference from each other, that is, back and forth using means that makes it possible to create a predetermined interval for transmission between each omnidirectional transmitter / receiver such as an internal clock .

  The called omnidirectional receiving apparatus 3 completes connection of communication with the omnidirectional transmitting / receiving apparatus 9 of the identification code and performs necessary communication. After that, the omnidirectional receiver 3 sends a confirmation signal (moving body confirmation signal) indicating that communication with the omnidirectional transmitter / receiver 9 of the identification code has been established together with its own identification code. Output to.

  Here, communication between the omnidirectional transmitter 2 and the omnidirectional transmitter / receiver 9, communication between the omnidirectional receiver / transmitter 9 and the omnidirectional receiver 3, and omnidirectional receiver The communication between the main body control device 1 and the main body control device 1 and the communication between the main body control device 1 and the omnidirectional transmission device 2 are performed by transmitting and receiving frames having the following contents, for example.

[(A) + (B) + (C) + (D) + (E)]
However, (A): Counter call code. (B): The unique code of the calling party. (C): A head code of information for issuing a code for teaching self. (D): Self identification code. (E): Data to be transmitted / received, if any, including, for example, data indicating attributes of the moving object such as blood type and age of the monitoring subject. By confirming the data indicating the attribute of the moving object, not only the moving object can be specified, but also an appropriate treatment according to the individual moving object can be taken quickly.

  The main body control device 1 receives the confirmation signal from the omnidirectional receiver 3 after instructing the omnidirectional transmitter 2 to make a call, or after the omnidirectional transmitter 2 makes a call autonomously. If the mobile object 8 is present, the range in which the mobile object 8 exists is confirmed (a method for confirming the position of the mobile object 8 will be described later), and it is determined whether or not the mobile object 8 exists in the management area 10. Is present beyond the monitoring area 10 or when the confirmation signal cannot be received from the omnidirectional receiver 3 after instructing the omnidirectional transmitter 2 to transmit, the mobile 8 Is not in the monitoring area 10, the alarm device 1a is activated, and the manager is notified of this by display or sound.

  Next, the main body control device 1 receives the transmitted radio wave from the omnidirectional transmitter / receiver 9 together with the position where the moving body 8 exists (it may not always be fixed at one point) to the omnidirectional receiver 3. From time, it has a means to judge whether the mobile body 8 is moving away from or approaching the omnidirectional receiving apparatus 3. As a premise of this, when the omnidirectional transmitter / receiver 9, the omnidirectional receiver 3 and the main body controller 1, and the omnidirectional transmitter 2 autonomously transmit, the omnidirectional transmitter 2 is accurate. The main body control device 1 has means for accurately knowing the time such as an internal clock whose time is adjusted to the time, and means for knowing the time when the omnidirectional transmission device 2 autonomously makes a call. The main body control device 1 instructs the omnidirectional transmission device 2 to perform transmission twice, or the omnidirectional transmission device 2 autonomously performs transmission twice.

  An operation for determining whether the moving body 8 is moving away from or approaching the omnidirectional receiving apparatus 3 will be described.

  As shown in FIG. 7, the coordinate positions of the omnidirectional transmitter 2 (mH), the omnidirectional receiver 3 (mJ), and the omnidirectional transmitter / receiver 9 (F) are represented by vectors mH (h1, h2, h3), vector mJ (j1, j2, j3), and vector F (f1, f2, f3). Among these, the coordinate positions of the omnidirectional transmitter 2 and the omnidirectional receiver 3 are known. Hereinafter, the vector mH, the vector mJ, and the vector F are simply referred to as mH, mJ, and F, respectively.

  Now, the first communication wave emitted from the omnidirectional transmission device 2 that the main body control device 1 instructs the first transmission or the omnidirectional transmission device 2 autonomously performs is the omnidirectional transmission / reception device. 9, the total time required for the communication wave transmitted from the omnidirectional transmission / reception device 9 to reach the omnidirectional reception device 3 and processed by the main body control device 1 is t0. Suppose. From this total time t0, time δ1 required to transmit an instruction from the main body control device 1 to the omnidirectional transmission device 2 (however, when the omnidirectional transmission device autonomously transmits, δ1 = 0), no The time δ2 required until the directional receiver / transmitter 9 receives the communication wave and transmits the communication wave, and the main controller 1 processes the information after the omnidirectional receiver 3 outputs to the main controller 1. The time t obtained by subtracting the sum of the time δ3 required for finishing is the time actually required for transmission of the radio wave in the radio wave transmission section (distance L). Here, the radio wave transmission section (distance L) is a section (distance L1) from the omnidirectional transmitter 2 to the omnidirectional transmitter / receiver 9 and a section from the omnidirectional transmitter / receiver 9 to the omnidirectional receiver 3. (Distance L2) is added, and in FIG. 7, distance L1 = | F−mH | + | mJ−F |.

Now, if the speed of light in the atmosphere is c, then L = ct.
The position in the space of the omnidirectional transmitter / receiver 9 (moving body 8) is expressed by the following equation (1): | F−mH | + | mJ−F | = ct (1)
Is the solution. In general (except for a special solution), as shown in FIG. 8, this is obtained as a football-type curved surface (elliptical rotator H1) having position vectors mH and mJ as two focal points S1 and R1, and p (vector) = MH-mJ is the major axis.

  When the intersection with the plane of ax + by + cZ = 0 is obtained, an ellipse D1 as shown in FIG. 9 is considered as the solution. Accordingly, the omnidirectional transmission / reception device 9 (moving body 8) moving on a certain plane is present on the circumference of the ellipse D1, as shown in FIG. 10, and this is the main body control device 1 described above. Becomes means for determining the position of the moving body 8. In a small animal, this can be said to be a position on the circumference, but for a human being with a height, if the distances L1 and L2 are not sufficiently far, it may not be said to be on the circumference.

  Therefore, the omnidirectional transmission / reception device 9 (moving body) based on a solution obtained by the main body control device 1 instructing the second transmission or autonomously the omnidirectional transmission device 2 emitting the second communication wave. If the position on the space of 8) is wider than the position on the space of the first omnidirectional transmission / reception device 9 (moving body 8), the movement of the omnidirectional transmission / reception device 9 (moving body 8) Is far from the distance in the major axis direction connecting the omnidirectional transmitter 2 and the omnidirectional receiver 3 in the direction outside the management area. If the second position is contracted compared to the position of the first omnidirectional transmitter / receiver 9 (moving body 8) in space, the movement of the omnidirectional transmitting / receiving apparatus 9 (moving body 8) is managed. That is, the direction is toward the inner side of the area, more precisely, the direction approaching the long axis direction connecting the omnidirectional transmitter 2 and the omnidirectional receiver 3.

  Therefore, it is possible to construct a system for operating the alarm device 1a when the moving body 8 is outside the monitoring area 10 or near the boundary of the monitoring area 10 and is moving away.

<Second Embodiment>
FIG. 11 shows an embodiment in which the number of omnidirectional transmitters 2 is increased to two: a first omnidirectional transmitter 2a (mH1) and a second omnidirectional transmitter 2b (mH2) (omnidirectional). The same system can be constructed even if at least one of the sexual transmission devices 2 is replaced with a directional transmission device). The monitoring area is drawn as a rectangle for convenience. In the case of this embodiment, when the first omnidirectional transmitter 2a and the second omnidirectional transmitter 2b transmit a call to one omnidirectional receiver 3 at the same time, a call collision occurs. Therefore, a time difference is provided in the transmission timing at which the first omnidirectional transmission device 2a and the second omnidirectional transmission device 2b transmit a call.

  The operation at this time is as follows.

  In FIG. 11, first, the main body control device 1 instructs the first omnidirectional transmission device 2a (mH1) and the second omnidirectional transmission device 2b (mH2) to transmit with a time difference, or first Omnidirectional transmitter 2a (mH1) and second omnidirectional transmitter 2b (mH2) autonomously transmit with a time difference.

  Thereby, first, the first omnidirectional transmission device 2a (mH1) is activated, and the omnidirectional transmission / reception devices 9 of all the mobile bodies 8 (8a, 8b) are based on their own identification codes. Send a call with a unified protocol.

  All the omnidirectional transmission / reception devices 9 that have received the call complete communication connection with the first omnidirectional transmission device 2a of the identification code and perform necessary communication. Then, the omnidirectional transmission / reception device 9 calls the omnidirectional reception device 3 with a dedicated protocol on the basis of its own identification code.

  The called omnidirectional receiving apparatus 3 completes connection of communication with the omnidirectional transmitting / receiving apparatus 9 of the identification code and performs necessary communication. After that, the omnidirectional receiving device 3 sends a confirmation signal (moving body confirmation signal) indicating that the communication connection with the omnidirectional transmitting / receiving device 9 (F1, F2) of the identification code has been established. Output to.

  Next, the second omnidirectional transmission device (mH2) is activated (exactly, a time lag that does not disrupt the communication is provided even before the communication of the first omnidirectional transmission device 2a (mH1) is completed) Based on its own identification code, the call is transmitted to the omnidirectional transmission / reception devices 9 of all the mobile units 8 (8a, 8b) using a unified protocol.

  The omnidirectional transmission / reception devices 9 of all the mobile bodies 8 (8a, 8b) that have received the call complete communication connection with the second omnidirectional transmission device 2b of the identification code and perform necessary communication. Do. Then, each omnidirectional transmission / reception device 9 calls the omnidirectional reception device 3 with a time difference with a dedicated protocol on the basis of its own identification code.

  The called omnidirectional receiving apparatus 3 completes connection of communication with the omnidirectional transmitting / receiving apparatus 9 of the identification code and performs necessary communication. After that, the omnidirectional receiving device 3 sends a confirmation signal (moving body confirmation signal) indicating that the communication connection with the omnidirectional transmitting / receiving device 9 (F1, F2) of the identification code has been established. Output to.

  After the main body control device 1 instructs the first and second omnidirectional transmitters 2a and 2b to transmit, or after the two omnidirectional transmitters 2a and 2b autonomously transmit with a time difference, When the confirmation signal is received from the omnidirectional receiver 3, the range in which the moving body 8 exists is confirmed to determine whether it exists in the monitoring area 10. Then, when the moving body 8 exists beyond the monitoring area 10, or after instructing the first and second omnidirectional transmitters 2a and 2b to transmit, the above confirmation is made from the omnidirectional receiver 3. When the signal cannot be received, it is determined that the moving body 8 is not in the monitoring area 10, the alarm device 1a is activated, and the fact is notified to the administrator by display or sound.

<Error processing 1 of the second embodiment>
In FIG. 11, a relay error has occurred in the first route of the first omnidirectional transmission device 2 a (unified protocol) → the omnidirectional transmission / reception device 9 (F 1, F 2) of the moving body 8 → the omnidirectional reception device 3. In this case, the confirmation signal is not transmitted to the main body control device 1. This relay error is stored in the main body control device 1.

  Next, the main body control device 1 sets the second omnidirectional transmitter 2b (unified protocol) → the omnidirectional transmitter / receiver 9 (F1, F2) of the moving body 8 → the second route of the omnidirectional receiver 3. Then, it is determined whether or not there is a relay error, and if the confirmation signal can be received without any relay error, the process is terminated assuming that the mobile body 8 has been confirmed.

  However, when a relay error occurs also in the second route, the main body control device 1 uses the dedicated protocol (hereinafter referred to as a dedicated protocol) unique to the omnidirectional transmission / reception device 9 included in each mobile unit 8 for the first omnidirectional. The directional transmission device 2a is instructed to transmit, and the first omnidirectional transmission device 2a → the omnidirectional transmission / reception device 9 (F1, F2) of the moving body 8 → the third route of the omnidirectional reception device 3 causes a relay error. Judgment is made. Following this, the main body control device 1 instructs the second omnidirectional transmission device 2b to transmit using a dedicated protocol, and the second omnidirectional transmission device 2b → the omnidirectional transmission / reception of the moving body 8. Device 9 (F1, F2) → Determines the presence or absence of a relay mistake on the fourth route of the omnidirectional receiver 3, and if the confirmation signal can be received without any relay mistakes, the mobile unit 8 has been confirmed. The process ends.

  However, if a relay error still occurs, the omnidirectional transmission / reception device 9 (F1, F2) of the moving body 8 does not exist. Therefore, the main body control device 1 operates the alarm device 1a to issue an alarm.

<Error processing 2 of the second embodiment>
FIG. 11 shows a case where the moving body 8 is separated to some extent. However, the mobile bodies 8 may be very close to each other as shown in FIG. In this case, in the transmission and reception of the first route and the second route according to the unified protocol, the first omnidirectional transmission device 2a and the second omnidirectional transmission device are transmitted to the omnidirectional transmission / reception device 9 (F1, F2). The jamming may occur due to the reason that the transmission radio wave from 2b is received at the same time, and the communication information may not be processed and transmitted to the main body control device 1.

  Therefore, even in such a case, the main body control device 1 instructs the first omnidirectional transmission device 2a to transmit using the third route based on the dedicated call protocol, and then transmits the second omnidirectional transmission using the fourth route based on the dedicated protocol. Instruct the device 2b to make a call. When the control signal is received from the omnidirectional receiver 3 on the third route or the fourth route, the main body control device 1 confirms the moving body 8 when the confirmation signal indicating that the communication was successful without any relay error is received. The process ends. If a relay error occurs in the third route and / or the fourth route, the alarm device 1a is activated to issue an alarm.

  Therefore, even when the moving bodies 8 are very close to each other and there is a relay error due to jamming, the confirmation process of the moving body 8 can be performed correctly.

  The reason why the dedicated protocol (dedicated call code) is used only for the communication on the third route or the fourth route and the unified protocol is used for the communication on the first route or the second route without using the dedicated protocol. This is because when a large number of bodies 8 exist, it takes too much time to complete the communication connection even if the omnidirectional transmission / reception devices 9 are called one by one. In particular, since it is necessary to transmit the communication wave twice in order to know whether the moving body 8 is approaching or moving away from the monitoring area 10, an error is likely to occur. Further, when obtaining the position and speed of the moving body 8 as will be described later, high-speed calculation processing of data from the omnidirectional transmission / reception device 9 is necessary, and the time until the communication connection is completed cannot be ignored. . Therefore, when there is no problem in the arithmetic processing, such as when there are a small number of the moving bodies 8, it is possible to construct a system using a dedicated protocol.

<Recognizing the position and speed of the moving body 8>
(A) One omnidirectional transmitter 2 and one to three omnidirectional receivers 3 (B) Two omnidirectional transmitters 2 and one omnidirectional receiver 3 (C In the case of each combination of three omnidirectional transmitters 2 and one omnidirectional receiver 3, in general, whether the moving body 8 exists in the monitoring area 10, and whether the moving body 8 Can only know whether the person is approaching or moving away from the monitoring area 10. In order to recognize the position and speed of the moving body 8, a combination of the omnidirectional transmitters 2 and the omnidirectional receivers 3 that are more than the above number is necessary except for a special case. As a premise, in order to recognize a change in speed or position, it is generally necessary to transmit two communication waves.

  Hereinafter, the recognition of the position and speed of the moving body 8 will be described separately.

  (A) When there is one omnidirectional transmitter 2 and 1 to 3 omnidirectional receivers 3 (in the case of FIG. 1 and (A) above).

  In this case, since there is only one omnidirectional transmission device 2, whether or not the moving body 8 exists in the monitoring area 10 and whether the moving body 8 is approaching the boundary of the monitoring area 10 or not. You can only know if there is. However, as a special example, when the moving body 8 moves only on a certain plane, additional conditions are added, so when there are three omnidirectional receivers, it is possible to know all of the position and speed. It may be possible (see below). When certain restrictions are added in this way, it becomes possible to know all information such as the position, speed, and separation of the moving body 8 even if the number of omnidirectional transmitters and omnidirectional receivers is small. There can be.

  (B) When there are two omnidirectional transmitters 2 (mH1, mH2) and one omnidirectional receiver 3 (mJ) (in the case of the second embodiment and (B)).

  In this case, the position in the space where the moving body 8 may exist is generally the vector coordinates (mH1) of the first omnidirectional transmission device 2a and the non-existence as shown in FIG. An elliptic rotating body H1 having the vector coordinates (mJ) of the directional receiver 3 as the focal points S1 and R1, the vector coordinates (mH2) of the second omnidirectional transmitter 2b, and the vector coordinates of the omnidirectional receiver 3 ( An elliptic rotating body H2 having mJ) as the focal points S2 and R1 exists, and the omnidirectional transmission / reception device 9 of the moving body 8 exists on the intersection curve (generally an ellipse D2).

  Now, assuming that the moving body 8 moves only on the plane 27 of ax + by + cz = 0 (moves only the plane), there are solutions at two intersections K1 and K2, as shown in FIG. When this is viewed in a plane, it becomes as shown in FIG. 15, and two intersections 2 are indicated as points where the moving body 8 may exist.

  Therefore, in the case of two omnidirectional transmitters 2 and one omnidirectional receiver 3, the position of the moving body 8 is not fixed at one point. However, as a special example, if any one of the points is a point where the moving body 8 cannot originally exist, if the point can be completely rejected, the moving body 8 is rejected by rejecting the point. You can know all the information such as the position, speed, and separation.

  (C) When there are three omnidirectional transmitters 2 (mH1, mH2, mH3) and one omnidirectional receiver 3 (mJ) (in the case of (C) above).

In this case, as shown in FIG. 16, the ellipsoidal rotator H1 having the focal points S1 and R1 as the vector coordinates (mH1) of the first omnidirectional transmitter 2a and the vector coordinates (mJ) of the omnidirectional receiver 3 are used. An elliptic rotating body H2 having focal points S2 and R1 at the vector coordinates (mH2) of the second omnidirectional transmitter 2b and the vector coordinates (mJ) of the omnidirectional receiver 3, and a third omnidirectional transmitter There is an elliptical rotator H3 having focal points S3 and R1 that are the vector coordinates (mH3) of the device and the vector coordinates (mJ) of the omnidirectional receiving device 3. Therefore, the two intersections K1 and K2 are shown as points where the moving body 8 may exist, and the position of the moving body 8 is not fixed at one point. However, as a special example now, when the moving body 8 moves only on the plane 27 of ax + by + cz = 0, the solution is solved at one intersection K0 (this is one of K1 and K2) as shown in FIG. It has. When this is viewed in a plane, it becomes as shown in FIG. 19, and the point where the moving body 8 may exist is determined by one point K0. In this case, all information such as the position, speed, and separation of the moving body 8 is obtained. (The speed will be described later). Further, when there are three omnidirectional transmitters 2 and one omnidirectional receiver 3 and when there are one omnidirectional transmitter 2 and three omnidirectional receivers 3, Therefore, as described above, it is possible to know all the information such as the position, speed, and separation of the moving body 8 (the speed will be described later).
(D) When there are two omnidirectional transmitters 2 (mH1, mH2) and two omnidirectional receivers 3 (mJ1, mJ2) (in cases other than (A), (B), and (C) above).

  In this case, as shown in FIG. 17, the elliptical rotation is performed with the vector coordinates (mH1) of the first omnidirectional transmitter 2a and the vector coordinates (mJ1) of the first omnidirectional receiver as focal points S1 and R1. An ellipsoid rotating body H2 having focal points S2 and R1 with the body H1, the vector coordinates (mH2) of the second omnidirectional transmitter 2b and the vector coordinates (mJ1) of the first omnidirectional receiver, An elliptic rotating body H3 having focal points S1 and R2 at the vector coordinates (mH1) of the omnidirectional transmitter 2a and the vector coordinates (mJ2) of the second omnidirectional receiver, and the second omnidirectional transmitter 2b There is an ellipsoidal rotator H4 having focal points S2 and R2 with the vector coordinates (mH2) and the vector coordinates (mJ2) of the second omnidirectional receiver, and this intersection is constant and the position is determined.

Therefore, the main body control device 1 transmits the communication wave twice from each of the two omnidirectional transmitters 2 (mH1, mH2) and is transmitted from the two omnidirectional receivers 3 (mJ1, mJ2). By comparing the time data of the second communication wave with the time data of the first communication wave and calculating, it is possible to obtain all the data such as the moving direction, speed, and separation of the moving body 8.
(E) When there are four omnidirectional transmitters 2 (mH1, mH2, mH3, mH4) and one omnidirectional receiver 3 (mJ) (other than (A), (B), and (C) above) ).

  In this case, as shown in FIG. 20, the ellipsoidal rotator H1 having the focal points S1 and R1 as the vector coordinates (mH1) of the first omnidirectional transmitter 2a and the vector coordinates (mJ) of the omnidirectional receiver 3 are used. An elliptic rotating body H2 having focal points S2 and R1 at the vector coordinates (mH2) of the second omnidirectional transmitter 2b and the vector coordinates (mJ) of the omnidirectional receiver 3, and a third omnidirectional transmitter An elliptic rotating body H3 having focal points S1 and R1 at the vector coordinates (mH3) of the device and the vector coordinates (mJ) of the first omnidirectional receiver, and the vector coordinates (mH4) of the fourth omnidirectional transmitter There is an elliptic rotating body H4 having focal points S4 and R1 as vector coordinates (mJ) of the omnidirectional receiving apparatus 3. Therefore, the point where the moving body 8 may exist is determined as one point K0.

  Therefore, the main body control device 1 transmits communication waves twice from each of the four omnidirectional transmitters 2 (mH1 to mH4) and is transmitted from one omnidirectional receiver 3 (mJ) 2. By comparing the time data of the first communication wave with the time data of the first communication wave and calculating, it is possible to obtain all data such as the moving direction, speed, and separation of the moving body 8.

<Third embodiment: Elderly monitoring system (FIGS. 21 and 24)>
A third embodiment of the present invention is shown in FIG. This is an old man monitoring system in which the moving body 8 in FIG. 1 is an old man and the old man must not leave the private room.

  Reference numeral 11 denotes an aged room having a door 12 and a window 13. The omnidirectional transmission device 2 and the omnidirectional reception device 3 are arranged in pairs in the center so that the monitoring area 10 covering the elderly room 11 is generated. As described above, an alarm is generated when an elderly person comes out of the monitoring area 10.

  However, unlike FIG. 1, in the elderly monitoring system of FIG. 21, the directional direction fixed directional transmitter 4 (kH) and the directional receiver 5 ( yJ) are arranged in a pair, and the monitoring gate 28 is configured.

  As an example of a monitoring gate, FIG. 22A shows a directional direction fixed directional transmitter 4 and a directional receiver 5 in which a reflector type antenna 29 is provided on a dedicated stand 30. FIG. (B) shows the directional directional transmission device 4 and the directional reception device 5 in a form in which a multi-element type antenna 32 in which waveguide elements and reflection elements are arranged in parallel is provided on a dedicated stand 30. . FIG. 23A shows a directional directional transmitter 4 and a directional receiver 5 having a reflector type antenna 29 provided on a common stand 33, and FIG. A fixed directional transmission device 4 and a directional reception device 5 in which the type of antenna 34 is provided on a common stand 33 are shown.

  These directional direction fixed directional transmitter 4 and directional receiver 5 are always movable, and the main body control device 1 is a moving body 8 for a radio wave transmitted from the directional fixed directional transmitter 4. When the directional receiver 5 can receive a call from the omnidirectional transmitter / receiver 9 worn by the person, it is determined that the elderly person as the moving body 8 has passed through the door 12 or the window 13 at the corresponding location. . Therefore, the main body control device 1 has a monitoring function for determining whether or not an elderly person who is a moving body 8 is present in the monitoring area 10 and this gate monitoring function. When 1a is activated, it is possible to determine where the old man is at the monitoring gate 28. The directional direction fixed directional transmitter 4 and the directional receiver 5 are always movable, but may be configured to be movable as necessary.

  FIG. 24 shows a modified example of the third embodiment, which is an elderly person monitoring system that handles a form in which an elderly person can leave the private room and go to the toilet.

  Unlike FIG. 21, the aged room 11 is connected to the hallway 14 through the door 12, and a toilet 14 a exists through the hallway 14, and these are set as the monitoring area 10 as a whole. In addition, the directional direction fixed directional transmitter 4 and the directional receiver 5 are arranged on one end side and the other end side of the corridor 14, respectively, and a monitoring gate 28 is configured. The main body control device 1 has a monitoring function for checking whether there is an elderly person who is a moving body 8 in the monitoring area 10 and this gate monitoring function, so that the elderly person comes out of the monitoring area 10 and the alarm device 1a When activated, it is possible to determine where the old man is at the monitoring gate 28.

<Fourth embodiment: Elderly monitoring system (FIG. 25)>
A fourth embodiment of the present invention is shown in FIG. This is an old man monitoring system that handles forms that the old man must not leave the house.

  The elderly person monitoring system shown in FIG. 25 includes two omnidirectional transmitters 2 (mH) and two omnidirectional receivers 3 (mJ). This is different from the case of FIG. 21 and FIG.

  In FIG. 25, a monitoring area 10a is formed by a pair of first omnidirectional transmitter 2a and first omnidirectional receiver 3a, and a pair of second omnidirectional transmitter 2b and second non-directional transmitter 2a. A monitoring area 10b is formed by the directional receiver 3b, and a bowl-shaped monitoring area 10 is constructed as a whole. In this monitoring area 10, a house 16 having an aged room 11 is set. A monitoring gate 28 is provided at the door 12 and the window 13, and a monitoring gate 28 is also provided at the entrance 15 of the house 16.

  The main body control device 1 enables the operation of the monitoring gate 28 of the entrance 15 from when the elderly person exits the monitoring gate 28 of the door 12. Then, the main body control device 1 activates the alarm device 1a when the elderly person passes the monitoring gate 28 of the entrance 15 or the window 13 and leaves the monitoring area 10.

  By having a monitoring function for determining whether there is an elderly person as the moving body 8 in the monitoring area 10 and the gate monitoring function described above, the main body control device 1 allows the elderly person to come out of the monitoring area 10 and an alarm device. When 1a is activated, it is possible to determine where the old man is at the monitoring gate 28.

<Fifth embodiment: elderly person monitoring system (FIG. 26)>
FIG. 26 shows a fifth embodiment of the present invention. This is an old man monitoring system that deals with forms that elderly people can go to the garden but should not go out.

  In this old man monitoring system, there is a garden 17 around the house 16 described with reference to FIG. 25, there is a fence 18 around which a person cannot get over, and a gate 19 is provided in a part of the fence 18. .

  As in the case of FIG. 25, the pair of first omnidirectional transmitter 2a and first omnidirectional receiver 3a, and the pair of second omnidirectional transmitter 2b and second omnidirectional receiver The first monitoring area 10 having a bowl shape covering the house 16 is constructed by 3b. However, unlike the case of FIG. 25, furthermore, by arranging a total of 3 units in the garden 17, a transmission / reception unit in which the omnidirectional transmission device 21 (mH) and the omnidirectional reception device 31 (mJ) are paired, A second monitoring area 20 covering the eaves 18 is constructed. In addition, a monitoring gate 28 is provided at the window 13 of the aged room 11 and the entrance 15 of the house 16, and the monitoring 19 including the fixed directional transmission device 4 and the directional reception device 5 is also provided at the gate 19 of the fence 18. A gate 28 is provided.

  When the old man exits the entrance 15 or the first monitoring area 10 or exits from the window 13, the main body control device 1 activates the alarm device 1 a to notify the first alarm (for example, a yellow lamp). Blinking). Further, when the elderly person exits from the second monitoring area 20 or exits from the gate 19, the main body control device 1 activates the alarm device 1a and outputs a second alarm (for example, flashing of a red lamp) to that effect. To do. In this case, since there are three omnidirectional transmitters 21 and three omnidirectional receivers 31 for the second monitoring area, it is possible to perform fixed-point observation on the position of the elderly person.

<Sixth embodiment: elderly person monitoring system (FIG. 27)>
FIG. 27 shows a sixth embodiment of the present invention. This is the same as FIG. 26 in that the elderly person can go up to the garden 17 but handles the form that should not go out, but in the direction of direction to form the second surveillance area 20 The difference is that a total of four pairs of transmission / reception units including a pair of the tracking-type directional transmitter 61 (aH) and the directional receiver 51 (yJ) are provided.

  FIG. 28 shows a configuration example of the antenna 91 of the directional tracking type directional transmitter 61. FIG. 28 (a) shows a transmitting antenna 35 and a receiving antenna 36, each of which is a multi-element antenna in which waveguide elements and reflecting elements are arranged, as a unit and are attached to a stand 33, and 360 degrees in the horizontal direction and 90 degrees in the vertical direction while synchronizing. Is configured to rotate so as to scan. The same applies to FIG. 28B, except that it is attached to the steel tower 25. Note that FIG. 28 shows a device having both a transmitting antenna and a receiving antenna, but in the present invention, a device having only a transmitting antenna and a device having only a receiving antenna are separated. Can be used as needed.

  When the directional communication wave of the directional tracking type directional transmission device 61 reaches the omnidirectional omnidirectional transmission / reception device 9, the omnidirectional transmission / reception device 9 emits an omnidirectional communication wave, and the generated radio wave. Is received with directivity by the directional receiver 51 (yJ). In this case, since the second monitoring area is composed of a directivity tracking type transmitter and receiver, fixed-point observation is possible for the position of the elderly person.

  As described above, in the direction in which the electric field strength is received at the maximum, the light speed c in the atmosphere is applied to the time t obtained by subtracting the time required for the above-described processing from the time required for reception from transmission. The value ct is the distance. Regarding the elderly person, the traveling direction and speed of the elderly person are calculated by comparing the position in the first communication with the position in the second communication.

  When the old man leaves the entrance 15, the first monitoring area 10, or the window 13, the main body control device 1 activates the alarm device 1a to notify the first alarm (for example, a yellow lamp). And the second monitoring area 20 is enabled by enabling four transmission / reception units including the directional tracking type directional transmitter 61 and the directional receiver 51. Then, when the elderly person exits the second monitoring area 20 or exits from the gate 19, the main body control device 1 activates the alarm device 1a to notify the second alarm (for example, flashing of the red lamp and sound). Output).

  The multi-element type directional tracking type directional transmitter 61 shown in FIG. 28 is suitable for use when the processing speed and the speed of light are sufficiently higher than the speed of the moving body 8 as in the elderly monitoring system. . When the speed of the moving body 8 is very high, a parabolic type directional tracking type directional transmitter 62 shown in FIG. 29 is used.

  That is, FIG. 29A shows a configuration in which a transmitting antenna 37 and a receiving antenna 38 each comprising a parabolic antenna are attached to the stand 33 as a unit and rotated to scan 360 degrees in the horizontal direction and 90 degrees in the vertical direction while synchronizing. It is what. FIG. 29B is the same, but is different in that it is attached to the steel tower 25. The parabolic type directional tracking type directional transmission device 62 shown in FIG. 29 has a narrower electric field strength, that is, a higher directivity than that of the multi-element type shown in FIG. Note that FIG. 29 shows a device having both a transmitting antenna and a receiving antenna, but in the present invention, a device having only a transmitting antenna and a device having only a receiving antenna are separated. Can be used as needed.

  The parabolic type directional tracking type directional transmitter 62 is suitable for monitoring the moving body 8 having a high moving speed. For example, in consideration of the distance factor, the Doppler effect is used in horses, cars, etc. Then, the speed and direction of travel can be calculated. This is because when the moving body 8 approaches, the wavelength of the communication wave emitted by the omnidirectional transmission / reception device 9 of the moving body 8 becomes shorter and becomes longer as the moving body 8 moves away.

<Seventh Embodiment: Grazing Horse Monitoring System (FIG. 30)>
FIG. 30 shows a seventh embodiment of the present invention. This is a monitoring system for monitoring a grazing horse as a moving body 8.

  A pair of omnidirectional transmission device 2 (mH) and omnidirectional reception device 3 (mJ) are set up to establish a first monitoring area 10 inside a target monitoring area 20a for monitoring horses grazed on the plain. A total of three pairs of transmission / reception units are arranged. Furthermore, in the center of the target monitoring area 20a, a single parabolic directional tracking type directional transmitter 62 (bH) is established in order to establish the second monitoring area 20 around the first monitoring area 10. ) And one omnidirectional receiving device 31 (mJ) as one pair. In addition, a omnidirectional transmission / reception device 9 is attached to each horse (moving body 8) grazed on the plain.

  The directional-directional tracking directivity transmitting device 62 used here is of the parabolic type described with reference to FIG. 29, and has higher directivity than the multi-element type of FIG. This directional tracking type directional transmitter 62 is different from the directional tracking type directional transmitter 61 (multi-element type of FIG. 28) used in the embodiment of FIG. 27 from other receiving systems. On the basis of information such as the position speed, communication waves are continuously generated, and the mobile body 8 is continuously traced in a range of 360 degrees horizontally and 90 degrees vertically. Although it is possible to search for the mobile body 8 by itself, the efficiency is low. The method of calculating the speed and the traveling direction is basically the same as the case of using the directional tracking type directional transmitter 61 of the type shown in FIG. 28, but using the Doppler effect, the speed and the traveling direction are calculated. Can also be calculated.

  When the horse as the moving body 8 leaves the first monitoring area 10 as shown by the horse 8g in FIG. 30, the main body control device 1 activates the alarm device 1a to give the first alarm (flashing yellow lamp). At the same time, the transmission / reception unit including the directional tracking type directional transmitter 62 and the omnidirectional receiver 31 is brought into a movable state. As a result, the second monitoring area 20 becomes effective, and the position and tracking of the horse 8g are performed. When the horse 8g leaves the second monitoring area 20, the main body control device 1 activates the alarm device 1a to give a second alarm (flashing red lamp and sound output) to inform the manager. In this example, the omnidirectional receiver 31 has been described. Alternatively, a directional receiver 51 synchronized with the directional tracking type directional transmitter 62 may be used.

  When the second monitoring area 20 is large like a plain of a grazing horse, a passenger car is prepared, and a directional tracking type directional transmitter 61 and a directional receiver 51 are mounted on the passenger car, and the multi-element The antenna unit can be mounted on the roof, and the main body control device 1 can be mounted in the vehicle to track the moving object 8 to be monitored. At that time, as a part of the alarm device 1a, a display (for example, a numeric meter, a PPI scope) that displays the distance to the moving body 8, or a sound generator (for example, a buzzer) that emits sound when within a certain distance. Or a speaker). Also, if the device is made compact and handy and can be used on foot, or if it exceeds the monitoring area 20, the omnidirectional transmission device 2 of this system and the omnidirectional reception With the apparatus 3 and the main body control apparatus 1, the mobile monitoring area 10 is formed and searched by itself. In some cases, the mobile body 8 that has entered the monitoring area 10 (recognized by the main body control apparatus 1) is detected. Thus, it is possible to search for a more accurate position of the moving body 8 by the tracking device including the directional tracking type directional transmitter 61, the directional receiver 51, and the main body controller 1.

<Eighth Embodiment: Grazing Horse Monitoring System (FIG. 31)>
FIG. 31 shows an eighth embodiment of the present invention. This is a modification of the monitoring system that monitors a large number of grazing horses as the moving body 8.

  A pair of omnidirectional transmission device 2 (mH) and omnidirectional reception device 3 (mJ) are set up to establish a first monitoring area 10 inside a target monitoring area 20a for monitoring horses grazed on the plain. Nine pairs of transmission / reception units (a) are arranged. Further, in order to establish the second monitoring area 20 around the target monitoring area 20a, a parabolic type directional tracking type directional transmission device 62 is provided in a region between the first monitoring area 10 and the target monitoring area 20a. (BH) and omnidirectional receiver 3 (mJ) as a pair of a total of eight transmission / reception units (b), multi-element type directional tracking type directional transmitter 61 (aH) and omnidirectional reception A total of eight pairs of transmission / reception units (c) each having the device 3 (mJ) as a pair are arranged. In addition, a omnidirectional transmission / reception device 9 is attached to each horse (moving body 8) grazed on the plain.

  When the horse that is the moving body 8 leaves the first monitoring area 10 as indicated by 8q, the main body control device 1 activates the alarm device 1a to give a first alarm (flashing yellow lamp), and eight transmission / receptions The unit (c) is brought into a movable state, and the position of the horse 8q is specified. If the position of the horse 8q is specified, the main body control device 1 keeps tracking the horse 8q with the nearest transmitting / receiving unit (b) among the eight transmitting / receiving units (b) in a movable state. When the horse 8q leaves the second monitoring area 20, the main body control device 1 activates the alarm device 1a to issue a second alarm (flashing red light and sound output), and informs the administrator. Make it. If the horse 8q returns to the first monitoring area 10, the main body control device 1 puts the transmission / reception units (b) and (c) in the dormant state again.

  In this example, a receiving device that is paired with a parabolic type directional tracking type directional transmitter 62 (bH) is synchronized with a synchronized parabolic type directional tracking type directional receiving device or a multi-element type. The directivity tracking type directional receiver may be used instead. The receiving device paired with the multi-element type directional tracking type directional transmitter 62 (bH) may be changed to a multi-element type directional tracking type directional receiving device.

  As described above, in the moving body monitoring system of the present invention, the main body control device 1 gives a transmission instruction to the omnidirectional transmission device 2 as necessary or periodically, or the omnidirectional transmission device 2 is autonomous. To the omnidirectional transmission / reception device 9 of the mobile body 8 and communication between the omnidirectional reception / transmission device 9 and the omnidirectional reception device 3 of each mobile body. Can be monitored sequentially and efficiently.

  In the above-described embodiment, it has been described that bidirectional communication is performed between the omnidirectional transmission device 2 (mH) and the omnidirectional transmission / reception device 9 (F), but the omnidirectional transmission device 2 (mH). The omnidirectional transmission / reception device 9 (F) receives a transmission radio wave from the omnidirectional transmission device 2 and transmits a corresponding radio wave, which is received by the omnidirectional reception device 3. It can be constructed as a system that only receives. Also in this embodiment, if necessary or periodically, the omnidirectional transmission apparatus 2 is instructed to transmit a transmission or the omnidirectional transmission apparatus 2 autonomously transmits the omnidirectional transmission / reception of the mobile body 8. Since the apparatus 9 is called and communication is sequentially performed between the omnidirectional transmission / reception apparatus 9 and the omnidirectional reception apparatus 3 of each mobile body, it is possible to monitor a large number of mobile bodies sequentially and efficiently. It is because it is obtained.

  Further, in the present invention, the transmitting device used to establish the monitoring area has been mainly described as non-directional, but the moving range of the moving body 8 is limited, and the moving speed of the moving body 8 is limited. However, a directional transmitter can be substituted for a relatively slow one. For the same reason, the omnidirectional receiving device can be replaced with a directional receiving device by a method such as synchronization.

  The present invention also uses a plurality of transceivers to monitor the movements of a plurality of free moving bodies having receiving and transmitting devices, and warns when a certain management area is exceeded. It is a system that emits light, and the structure of the entire system is excellent in flexibility. It can also be used as a system for detecting and detecting a free moving object that has left the management area. Therefore, it is possible to manage from a very small system such as management of one animal to a large scale such as management of a herd of several hundred sheep to be grazed. Furthermore, since the present system can move the management area, it is possible to follow the movement of such a group.

  The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the technical concept of the present invention.

  The mobile body monitoring system of the present invention can monitor all mobile bodies 8 such as humans, animals other than humans, and vehicles. For example, it can be constructed as a monitoring system for the following moving body 8.

  (1) Elderly person monitoring system (third to sixth embodiments).

  (2) Grazing horse monitoring system (seventh and eighth embodiments).

  (3) A climber monitoring system in which a climber is provided with an omnidirectional transmission / reception device 9. Mobile phones are difficult to reach in the mountains, and calls are not possible when the victim is unconscious. This climber monitoring system makes it easy to search for victims.

  (4) Parking car monitoring system. When the vehicle is equipped with the omnidirectional transmission / reception device 9 and parked in a large parking lot or the like, it is easy to find the vehicle later.

  (5) Inventory monitoring system. Used for inventory management in warehouses, it is possible to instantly grasp where a specific package is located in three dimensions.

  (6) Lost child monitoring system. Help children get lost when entering large events and amusement parks.

1 is a diagram illustrating an overall configuration of a moving object monitoring system according to a first embodiment of the present invention. It is the figure which illustrated the omnidirectional antenna for omnidirectional transmitters. It is a figure which shows the kind of omnidirectional antenna for omnidirectional receivers. It is a figure which shows the form which integrated the omnidirectional antenna for omnidirectional transmitters and omnidirectional receivers. It is the figure which showed the kind of omnidirectional transmission / reception apparatus attached to the mobile body of a machine element. It is the figure which showed the mounting | wearing form of the omnidirectional transmission / reception apparatus suitable for people and animals. It is the figure which illustrated the vector coordinate position of the omnidirectional transmitting apparatus (mH), the omnidirectional receiving apparatus (mJ), and the omnidirectional receiving / transmitting apparatus (F) of a moving body. It is the figure which showed the curved surface with which a mobile body (omnidirectional transmission / reception apparatus) may exist. It is a figure which shows the position on the space of a mobile body (omnidirectional transmission / reception apparatus). It is a figure which shows the position of the mobile body (omnidirectional transmission / reception apparatus) which moves on a plane. It is the figure concerning the 2nd Embodiment of this invention which showed the mobile body monitoring system comprised with two omnidirectional transmission apparatuses and one omnidirectional receiving apparatus. It is the figure which showed the case where two moving bodies are approaching very much in the form of FIG. It is a figure which shows the position on the space where a mobile body (omnidirectional transmission / reception apparatus) may exist when there are two omnidirectional transmission apparatuses. It is a figure which shows the relationship between the position on the space in which the mobile body (omnidirectional transmission / reception apparatus) of FIG. 13 may exist, and a plane. It is a figure which shows the position where a mobile body (omnidirectional transmission / reception apparatus) exists on the plane of FIG. It is a figure which shows the position on the space where a mobile body (omnidirectional transmission / reception apparatus) may exist when there are three omnidirectional transmission apparatuses and one omnidirectional reception apparatus. It is a figure which shows the position on the space where a mobile body (omnidirectional transmission / reception apparatus) may exist when there are two omnidirectional transmission apparatuses and two omnidirectional reception apparatuses. It is a figure which shows the relationship between the position on the space in which the mobile body (omnidirectional transmission / reception apparatus) of FIG. 17 may exist, and a plane. It is a figure which shows the position where a mobile body (omnidirectional transmission / reception apparatus) exists on the plane of FIG. It is a figure which shows the position on the space where a mobile body (omnidirectional transmission / reception apparatus) may exist when there are four omnidirectional transmission apparatuses and one omnidirectional reception apparatus. It is a figure which shows the elderly person monitoring system which concerns on the 3rd Embodiment of this invention. It is the figure which illustrated the antenna unit of the directional directivity type directional transmitter and the directional receiver. It is the figure which illustrated the antenna unit which makes a directional direction fixed type directional transmitter and a directional receiver a pair. It is a figure which shows the modification of the elderly person monitoring system which concerns on the 3rd Embodiment (FIG. 21) of this invention. It is a figure which shows the elderly person monitoring system which concerns on the 4th Embodiment of this invention. It is a figure which shows the elderly person monitoring system which concerns on the 5th Embodiment of this invention. It is a figure which shows the elderly person monitoring system which concerns on the 6th Embodiment of this invention. It is a figure which shows the example of a form of the antenna which makes a multi-element type directional direction tracking directional transmitter and a directional receiver a pair. It is a figure which shows the example of a form of the antenna which makes a parabolic type directional tracking type directional transmission apparatus and a directional reception apparatus a pair. It is a figure which shows the monitoring system of the grazing horse based on the 7th Embodiment of this invention. It is a figure which shows the monitoring system of the grazing horse based on the 8th Embodiment of this invention.

Explanation of symbols

1 Main body control device,
1a alarm device,
2 omnidirectional transmitter,
2a a first omnidirectional transmitter,
2b Second omnidirectional transmitter,
3 omnidirectional receiver,
3a a first omnidirectional receiver,
3b second omnidirectional receiver,
4 Directional direction fixed directional transmitter,
5 directional receiver,
6 First wire,
7 Second cable,
8 Mobile object,
8a 1st moving body,
9 Nondirectional transmitter / receiver,
10 monitoring area,
10 first monitoring area,
10a monitoring area,
10b monitoring area,
11 Elderly room,
12 doors,
13 windows,
14 Corridor,
15 Entrance,
16 house,
17 Garden,
18 塀
19 gates,
20 second monitoring area,
20a Target monitoring area,
21 omnidirectional transmitter,
22 bases,
23 Vertical antenna,
24 vertical antenna,
25 Steel tower,
26 cases,
27 plane,
28 Monitoring gate,
29 Reflector type antenna,
30 Dedicated stand,
31 omnidirectional receiver,
32 Multi-element type antenna,
33 Common stand,
34 Parabolic antenna,
35 Transmitting antenna,
36 Receiving antenna,
37 Transmitting antenna,
38 Receiving antenna,
51 directional receiver,
61 Directional tracking type directional transmitter,
62 Directional tracking type directional transmitter,
91 antenna,
92 Wired.

Claims (26)

At least one transmission device arranged to establish a monitoring area within the effective range of its own transmission radio wave;
Attached to a mobile object that is a monitoring target to be located in the monitoring area, receives a transmission radio wave from the transmitting device, and responds to this by transmitting a call by radio wave based on its own identification code. A directivity transmitting / receiving device;
After receiving the call by the transmission radio wave from the omnidirectional transmitter / receiver installed at a position sufficient to monitor the monitoring area and completing the connection of communication, the communication with the omnidirectional transmitter / receiver of the identification code is completed. At least one receiving device that outputs a confirmation signal that the connection has been established;
A main body control device that determines whether or not the moving body is in a monitoring area when the transmitting device is instructed to transmit and then receives the confirmation signal from the receiving device. A moving body monitoring system characterized by this.   The mobile body monitoring system according to claim 1, wherein the transmitting device is an omnidirectional transmitting device, and the receiving device is an omnidirectional receiving device.   The mobile monitoring system according to claim 1, wherein the monitoring area is movable by moving at least one of the transmitting device and the receiving device.   The mobile unit monitoring system according to any one of claims 1 to 3, wherein the signal generated from the omnidirectional transmission / reception device includes data indicating an attribute of the mobile unit. From the series of time when the main body control device arrives at the receiving device from the omnidirectional transmitting / receiving device which is emitted to respond to the transmitting device emitting radio waves, the mobile unit Having means for determining whether is moving away from or approaching the receiving device;
The mobile body monitoring system according to any one of claims 1 to 4, wherein The main body control device gives a transmission instruction to the transmitting device a plurality of times, and based on the time difference required to receive the confirmation signal for each time, the position and moving direction of each mobile body And means for calculating the speed,
The moving body monitoring system according to any one of claims 1 to 5, wherein   A plurality of the transmitting devices are provided, and each of the transmitting devices has means for transmitting with a predetermined time lag from each other when the transmitting device is instructed to transmit by the main body control device. The mobile body monitoring system as described in any one. In the series of processes in which the omnidirectional transmitter / receiver transmits a call by transmission radio waves transmitted from the plurality of transmitters and at least one receiver receives the call. Based on the difference in time required, it has means for calculating the position, moving direction, and speed of each moving body,
The moving body monitoring system according to claim 7. The transmitting device has means for communicating with the main body control device;
The main body control device calls each transmitting device individually to instruct transmission, and tests whether the confirmation signal can be received, and confirms when one of the transmitting devices is individually called to instruct transmission When the signal can be received, it is determined whether or not the moving body is in the monitoring area, and when the confirmation signal cannot be received even if all the transmitting devices are individually called and instructed to transmit, the moving body The mobile body monitoring system according to claim 1, further comprising: a unit that determines that is not in the monitoring area. The monitoring area is the first monitoring area, and the second monitoring area is arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one second area omnidirectional transmitter;
At least one unit that is installed at a position sufficient to monitor the second monitoring area, receives radio waves from the second area omnidirectional transmitter, and confirms the moving body in the second monitoring area A second area omnidirectional receiver,
When the main body control device determines that the mobile body is not in the first monitoring area, the second area omnidirectional transmission device and the second area omnidirectional reception device are operated to set the monitoring area. When the area is expanded or switched from the first monitoring area to the second monitoring area, and the confirmation signal of the moving body cannot be obtained from the second area omnidirectional receiver for the second monitoring area The mobile body monitoring system according to claim 1, further comprising: a unit that determines that the mobile body is not in the second monitoring area. The monitoring area is the first monitoring area, and the second monitoring area is arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional tracking type directional transmitter;
The mobile unit installed in a position sufficient to monitor the second monitoring area, receiving the tracking radio wave from the directional tracking type directional transmission device in synchronization, and receiving the moving body in the second monitoring area At least one directional receiver to be tracked;
When the main body control device determines that the moving body is not in the first monitoring area, the main body control device operates the directional tracking type directional transmission device and the directional reception device to set the monitoring area to the monitoring area. When the area is expanded or switched from the first monitoring area to the second monitoring area, and the confirmation signal of the moving body cannot be obtained from the directional receiver for the second monitoring area, the moving body The mobile body monitoring system according to any one of claims 1 to 9, further comprising: a unit that determines that it is not within the second monitoring area. The monitoring area is the first monitoring area, and the second monitoring area is arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional tracking type directional transmitter;
Installed at a position sufficient to monitor the second monitoring area, receiving a tracking radio wave from the directional tracking type directional transmitter, and tracking at least the mobile body in the second monitoring area One omnidirectional receiver,
When the main body control device determines that the mobile body is not within the first monitoring area, the directional direction tracking directional transmission device and the omnidirectional receiving device are operated to set the monitoring area to the first monitoring area. When the area is expanded or switched from one monitoring area to the second monitoring area, and the tracking signal of the moving object cannot be obtained from the omnidirectional receiver for the second monitoring area, the moving object The mobile body monitoring system according to any one of claims 1 to 9, further comprising: means for determining that the second monitoring area is not present. At least one transmission device arranged to establish a monitoring area within the effective range of its own transmission radio wave;
Attached to a mobile object that is a monitoring target to be located in the monitoring area, receives a transmission radio wave from the transmitting device, and responds to this by transmitting a call by radio wave based on its own identification code. A directivity transmitting / receiving device;
After receiving the call by the transmission radio wave from the omnidirectional transmitter / receiver installed at a position sufficient to monitor the monitoring area and completing the connection of communication, the communication with the omnidirectional transmitter / receiver of the identification code is completed. At least one receiving device that outputs a confirmation signal that the connection has been established;
A main body control device that determines whether or not the mobile object is in a monitoring area when the confirmation signal is received from the receiving device after the autonomous transmission performed by the transmitting device. A moving body monitoring system characterized by this. Radiate transmission radio waves from at least one transmitter with the transmission radio wave within the effective coverage area,
The transmission radio wave is received by an omnidirectional transmission / reception device attached to a moving body that is a monitoring target to be located in the monitoring area,
In response to receiving the transmission radio wave, the omnidirectional transmission / reception device transmits a call by radio wave based on its own identification code,
The communication is received by at least one receiving device installed at a position sufficient to monitor the monitoring area, and communication connection is completed.
After the connection of the communication is completed, a confirmation signal indicating that the communication connection with the omnidirectional transmission / reception device of the identification code has been established from the reception device to the main body control device,
In the main body control device, when the confirmation signal is received from the reception device after instructing the transmission to the transmission device, it is determined whether or not the moving body is in a monitoring area, and the confirmation signal A moving body monitoring method characterized in that it is determined that the mobile phone is not present when reception is impossible.   The mobile body monitoring method according to claim 14, wherein the transmitting device is an omnidirectional transmitting device, and the receiving device is an omnidirectional receiving device.   The mobile monitoring system according to claim 14 or 15, wherein the monitoring area is movable by moving at least one of the transmitting device and the receiving device.   The mobile unit monitoring system according to any one of claims 14 to 16, wherein the signal generated from the omnidirectional transmission / reception device includes data indicating an attribute of the mobile unit. From the series of time when the main body control device arrives at the receiving device from the omnidirectional transmitting / receiving device which is emitted to respond to the transmitting device emitting radio waves, the mobile unit Determine whether is moving away from or approaching the receiving device;
The moving body monitoring method according to any one of claims 14 to 17, wherein the moving body monitoring method is performed. Based on the difference in time required to receive the confirmation signal of each time obtained by giving a transmission instruction to the transmitting device a plurality of times from the main body control device, the position of each moving body, the moving direction, And calculate the speed,
The moving body monitoring method according to any one of claims 14 to 18, wherein the moving body monitoring method is performed.   A plurality of the transmitting devices are provided, and when the transmission is instructed from the main body control device, the transmitting devices transmit with a predetermined time lag from each other. The moving body monitoring method described. In the main body control device, in a series of processes in which the omnidirectional transmission / reception device transmits a call by transmission radio waves transmitted from the plurality of transmission devices, and at least one or more of the reception devices receive the call. Based on the time difference required, the position, moving direction, and speed of each moving body are calculated.
21. A moving body monitoring method according to claim 20, wherein Call each transmitting device individually from the main body control device to instruct transmission, test whether the confirmation signal can be received, and receive the confirmation signal when calling any transmitting device individually and instructing transmission When it is possible, it is determined whether or not the moving body is in the monitoring area. If the confirmation signal cannot be received even if all the transmitting devices are individually called and instructed to transmit, the moving body is in the monitoring area. The mobile body monitoring method according to any one of claims 14 to 21, wherein it is determined that the mobile body is not within. The monitoring area is the first monitoring area, and the second monitoring area is arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one second area omnidirectional transmission device and a position sufficient to monitor the second monitoring area, receive radio waves from the second area omnidirectional transmission device, and And at least one second area omnidirectional receiver for confirming the moving object in the monitoring area,
When the main body control device determines that the moving body is not in the first monitoring area, the monitoring area is set by operating the second area transmitting device and the second area omnidirectional receiving device. When the area is enlarged or switched from the first monitoring area to the second monitoring area, and the confirmation signal of the moving body cannot be obtained from the second area omnidirectional receiver for the second monitoring area, The mobile body monitoring method according to any one of claims 14 to 21, wherein the mobile body is determined not to be in the second monitoring area. The monitoring area is the first monitoring area, and the second monitoring area is arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional tracking type directional transmission device and a directional transmission device installed at a position sufficient to monitor the second monitoring area, and synchronously receiving tracking radio waves from the directional direction tracking directional transmission device And at least one directional receiving device that tracks the moving object in the second monitoring area,
When the main body control device determines that the mobile body is not in the first monitoring area, the monitoring area is set by operating the directional tracking type directional transmission device and the directional reception device. When the area is enlarged or switched from the first monitoring area to the second monitoring area and the confirmation signal of the moving object cannot be obtained from the directional receiver for the second monitoring area, the moving object The mobile body monitoring method according to any one of claims 14 to 21, wherein the mobile body is determined not to be in the second monitoring area. The monitoring area is the first monitoring area, and the second monitoring area is arranged at a position sufficient to monitor the second monitoring area so as to establish a second monitoring area in a region beyond the boundary of the first monitoring area. At least one directional tracking type directional transmission device and a position that is sufficient to monitor the second monitoring area, and receiving tracking radio waves from the directional direction tracking directional transmission device; Providing at least one omnidirectional receiving device that tracks the moving object in the second monitoring area;
When the main body control device determines that the mobile body is not within the first monitoring area, the monitoring area is set by operating the directional tracking type directional transmission device and the omnidirectional reception device. When the first monitoring area is switched to the second monitoring area, and the confirmation signal of the moving body is not obtained from the omnidirectional receiving apparatus for the second monitoring area, the moving body is moved to the second monitoring area. The mobile body monitoring method according to any one of claims 14 to 21, wherein the mobile body monitoring method is determined not to be within the monitoring area. Radiate transmission radio waves from at least one transmitter with the transmission radio wave within the effective coverage area,
The transmission radio wave is received by an omnidirectional transmission / reception device attached to a moving body that is a monitoring target to be located in the monitoring area,
In response to receiving the transmission radio wave, the omnidirectional transmission / reception device transmits a call by radio wave based on its own identification code,
The call is received by a receiving device installed in a position sufficient to monitor the monitoring area, and communication connection is completed.
After the connection of the communication is completed, a confirmation signal indicating that the communication connection with the omnidirectional transmission / reception device of the identification code has been established from the reception device to the main body control device,
In the main body control device, when the confirmation signal is received from the receiving device after the autonomous transmission by the transmitting device, it is determined whether or not the moving body is in the monitoring area. A mobile body monitoring method, characterized in that it is determined that the confirmation signal is not received when it cannot be received.

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