JP2020106363A - Distance measuring system and program - Google Patents

Abstract

To provide a distance measuring system with which it is possible to measure the distance between a plurality of user terminal devices both of which move.SOLUTION: Provided is a distance measuring system comprising a first user terminal device 5a, a second user terminal device 5b and a server device 7. The distance measuring system is characterized by having: near distance wireless communication means capable of detecting received wave strength between the first user terminal device 5a and the second user terminal device 5b and measuring the distance to each other; positioning means capable of measuring the distance to each other from the first position information of the first user terminal device 5a and the second position information of the second user terminal device 5b, with the first and second position information transmitted to the server device 7; and switching means for switching to distance measurement by the near distance wireless communication means and distance measurement by the positioning means in accordance with a change of distance between the first user terminal device 5a and the second user terminal device 5b, with a prescribed distance used as a threshold.SELECTED DRAWING: Figure 28

Description

The present invention relates to a distance measuring system and a program for measuring the distance between a plurality of users.

In Patent Document 1, a discovery message transmitted from a first device such as an access point is received by a second device such as a mobile information terminal, and transmission power of the discovery message and elapsed time from transmission of the discovery message to reception. And determining the distance between the first device and the second device. The distance between the first device and the second device is determined based on a Bluetooth (registered trademark) signal, a near field communication (NFC) signal, or a global positioning system (GPS) signal according to a predetermined threshold value. Is described.

In Patent Document 2, a plurality of base station terminals are installed in advance on a route to a destination, and a Bluetooth (registered trademark) terminal (hereinafter, referred to as “BLE terminal”) possessed by an unprotected person such as a child approaches the base station terminal. It is described that the BLE terminal is detected and the position information of the non-guardian is acquired when doing.

In Patent Document 3, a short-range wireless communication function for communicating with a specific product or a wireless tag provided on a display shelf, a first position measuring function for indoors, and a first position measuring function for indoors according to the reception status of position measurement radio waves. The mobile terminal is provided with a positioning function selector that switches between the second position measurement function and the second position measurement function. The positioning function selector operates at predetermined time intervals, checks the positioning status of each measurement function, compares the accuracy of position information calculation by each positioning means, and selects the most accurate measurement function at that time. .. It is described that this will be useful for marketing by collecting the behavior of consumers in a wide area of multiple stores indoors, outdoors, and underground.

JP, 2008-088706, A International Publication No. 2015/170538 JP, 2008-22609, A

However, in Patent Document 1, the distance between the first device such as an access point at a fixed position and the second device such as a mobile information terminal that moves can be determined, but a plurality of user terminals where both move It was not possible to measure the distance between the devices. In Patent Document 2, since it is necessary to install a plurality of base station terminals on the route to the destination in advance, there is a problem that the number of base station terminals to be installed for each route becomes huge and the cost is high. Moreover, the distance between a plurality of user terminal devices cannot be measured. In Patent Document 3, the positioning function selector can select the most accurate measurement function at that time, but the distance between a plurality of user terminal devices cannot be measured.

The present invention is to solve the above problems, and an object of the present invention is to provide a distance measuring system capable of measuring the distance between a plurality of user terminal devices that both move.

A typical configuration of the distance measuring system according to the present invention for achieving the above object is a distance measuring system having a first user terminal device, a second user terminal device, and a server device, Short-distance wireless communication means capable of detecting the received radio field intensity between the first user terminal device and the second user terminal device and measuring the mutual distance; The position information of No. 1 and the second position information of the second user terminal device may be transmitted to the server device to measure the mutual distance from the first position information and the second position information. The positioning means capable of measuring the distance by the short-range wireless communication means and the positioning means according to a change in the distance between the first user terminal device and the second user terminal device with a predetermined distance as a threshold. And a switching means for switching between measurement of distance.

According to the present invention, it is possible to measure the distance between a plurality of user terminal devices that both move.

It is a block diagram which shows the structure of the control system of a cane. It is a perspective view which shows the structure of a cane. It is a block diagram which shows the structure of the control system of a user terminal device. It is a block diagram which shows the structure of the control system of a server apparatus. Between the first cane carried by the first user, the first user terminal device, the second cane carried by the second user, the second user terminal device, the server device, and the database. It is a figure explaining the function which transmits communication information by. Continuing from FIG. 5, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. Continuing from FIG. 6, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. Continuing from FIG. 7, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. Continuing from FIG. 8, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. Continuing from FIG. 9, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. Continuing from FIG. 10, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. Continuing from FIG. 11, a first cane carried by the first user, a first user terminal device, a second cane carried by the second user, a second user terminal device, and a server device. , Is a diagram illustrating a function of transmitting communication information to and from a database. It is a figure which shows an example of the signal data of a vibration pattern and a light emission pattern. It is a flowchart which shows operation|movement of a cane. 15 is a flowchart showing a pairing processing operation in step S1100 of FIG. 15 is a flowchart showing a data transmission/reception processing operation in step S1200 of FIG. 14. 17 is a flowchart showing a transmission/reception processing operation of a device output instruction in step S1215 of FIG. 15 is a flowchart showing the roll switching processing operation in step S1300 of FIG. 14. It is a flow chart which shows positioning and notification processing operation by the side of a server device. FIG. 20 is a flowchart showing positioning and notification processing operation on the server device side following FIG. 19. FIG. 21 is a flowchart of the positioning and notification processing operation on the server device side continued from FIG. 20. 20 is a flowchart showing a proximity determination processing operation by short-range wireless communication in step S3000 of FIG. It is a flow chart which shows position information transmission processing operation by the side of the 1st user terminal unit. 22 is a flowchart showing a proximity status update processing operation in step S3200 of FIG. 21. FIG. 25 is a flowchart showing a proximity status update processing operation following FIG. 24. FIG. It is a figure which shows the data structure of proximity information, account information, and positional information. (A) is a figure which shows an example of a data structure of account information, (b) is proximity information, (c) is a data structure of position information. (A) is the position when the second user moves from the “out of service” area to the “far” area and when the third user is in the “far” area with respect to the first user. It is a figure which shows information and proximity. (B) is an example of a screen displayed on the first user terminal device owned by the first user in the state of (a). (A) shows position information when the second user is in the “far” area and the third user moves from the “far” area to the “close” area with respect to the first user. It is a figure which shows proximity. (B) is an example of a screen displayed on the first user terminal device owned by the first user in the state of (a). (A) is a figure which shows the positional information and the proximity degree when a 2nd user leaves|separates out of range. (B) is an example of a screen displayed on the first user terminal device possessed by the first user when the second user leaves the area. It is a figure which shows the relationship between the distance between two points between a 1st user and a 2nd user, the communication distance of short-distance wireless communication, and the wide range level distance range measured by GPS. It is a figure which shows a mode that each other is notified when the distance between a 1st user and a 2nd user becomes less than a predetermined threshold value. It is a figure which shows a mode that the distance between a 1st user and a 2nd user is further approached, and when it can connect with the other party's user terminal device by communication of short-distance wireless communication, it notifies each other. It is a figure which shows a positional information and a proximity degree among four users. It is a figure which shows a mode that the vector of the movement between users is produced from time and the moving direction etc. by referring to the movement history between users, and a movement is estimated.

An embodiment of a distance measuring system and a program according to the present invention will be specifically described with reference to the drawings. The first and second canes 1a and 1b, the first and second user terminal devices 5a and 5b, and the server device 7 described below are each configured by a computer system, and each is controlled by a computer program.

<Canes>
FIG. 1 is a block diagram showing a configuration of a control system for the canes 1a and 1b. FIG. 2 is a perspective view showing the structures of the canes 1a and 1b. The walking sticks 1a and 1b shown in FIGS. 1 and 2 are walking sticks that the first and second users 6a and 6b, such as the elderly and visually impaired users as users of the walking sticks 1a and 1b, routinely use for walking assistance. is there. The users 6a and 6b who use the canes 1a and 1b, respectively, also have the user terminal devices 5a and 5b, respectively. A smart phone, a mobile phone, a tablet terminal, a personal computer, or the like can be applied to the user terminal devices 5a and 5b. The canes 1a and 1b are used in a communication system provided so as to be communicable between a plurality of user terminal devices 5a and 5b via a server device 7.

<Control part>
As shown in FIG. 1, a control unit 8 provided on the canes 1a and 1b includes a power supply device 12 that is detachably provided inside the grips of the canes 1a and 1b, and a Bluetooth (registered as a short-range wireless communication unit). A trademark) communication module (hereinafter referred to as “BLE communication module”) 2 is connected. Further, a light emitting device 11 such as an LED (Light Emitting Diode) provided on the outer peripheral surfaces of the lower portions of the walking sticks 1a and 1b is connected to the control unit 8. The controller 8 drives the vibrator 10 to vibrate the canes 1a and 1b. The control unit 8 also causes the light emitting device 11 to emit light. Further, the control unit 8 has a calculation function for controlling the BLE communication module 2 and converting data to be transmitted/received to/from the BLE communication module 16 provided in the user terminal devices 5a and 5b.

<Control program>
The first user terminal device 5a owned by the first user 6a, the second user terminal device 5b owned by the second user 6b, and the first short-range wireless communication unit owned by the first user 6a. BLE communication module 2 provided on the first cane 1a, or BLE communication module 16 provided on the first user terminal device 5a, and second short-range wireless communication carried by the second user 6b. In a program for controlling a distance measuring system having the BLE communication module 2 provided on the second cane 1b as a unit or the BLE communication module 16 provided on the second user terminal device 5b and the server device 7. The computer is caused to function as a short-range wireless communication unit capable of detecting the intensity of the received radio wave between the first short-range wireless communication unit and the second short-range wireless communication unit and measuring the mutual distance.

At this time, when the first short-range wireless communication unit is the BLE communication module 2 provided on the first cane 1a, the second short-range wireless communication unit is provided on the second user terminal device 5b. When it is the BLE communication module 16 and the first short-range wireless communication unit is the BLE communication module 16 provided in the first user terminal device 5a, the second short-range wireless communication unit is the second walking stick 1b. BLE communication module 2 provided in the. As described above, the short-range wireless communication means is configured by the BLE communication module 2 provided in each of the canes 1a and 1b and the BLE communication module 16 provided in each of the user terminal devices 5a and 5b.

When the BLE communication module 2 is provided separately from the BLE communication module 16 in each user terminal device 5a, 5b, the first user terminal device 5a, the second user terminal device 5b, and the server device 7 are provided. In a program for controlling the distance measuring system having a computer, the computer can detect the received radio wave intensity between the first user terminal device 5a and the second user terminal device 5b and measure the distance between them. Function as a range wireless communication means.

At this time, the short-range wireless communication means is configured by the BLE communication module 2 provided in the first user terminal device 5a and the BLE communication module 16 provided in the second user terminal device 5b, or , The BLE communication module 16 provided in the first user terminal device 5a and the BLE communication module 2 provided in the second user terminal device 5b.

The computer program for controlling the wands 1a and 1b causes at least the computer to function as control means for controlling at least one of a light emitting state of the light emitting device 11 as a light emitting means and a vibration state of the vibrator 10 as a vibrating means by a control signal. .. This control means is composed of the control unit 8.

<BLE communication module>
As shown in FIG. 1, the first and second wands 1a and 1b carried by the first and second users 6a and 6b have first and second wands 1a and 6b carried by the first and second users 6a and 6b, respectively. BLE communication modules 2 are provided as short-distance wireless communication means for communicating with the two user terminal devices 5a and 5b, respectively.

Here, the short-distance wireless means is a wireless LAN (local area network), WiFi (trademark) (wireless fidelity), NFC (near field communication), Bluetooth (registered trademark), BLE (Bluetooth (registered trademark) low energy),. (Registered trademark), WFD (WiFi (trademark) direct), UWB (ultra wide band), and the like.

<Vibration device>
A vibrator 10 is connected to the control unit 8 as a vibrating means for vibrating the canes 1a and 1b. By driving the vibrator 10, the vibrator 10 vibrates the canes 1a and 1b. The users 6a and 6b holding the canes 1a and 1b assist the notification or identification of information by the feeling of vibration of the canes 1a and 1b.

<Light emitting device>
The control unit 8 is connected to a light emitting device 11 as a light emitting means provided on the canes 1a and 1b. As the light emitting device 11, an LED (Light Emitting Diode) can be applied. By the light emission of the light emitting device 11, it is possible to call attention not only to the users 6a and 6b who carry the canes 1a and 1b but also to the people around the users 6a and 6b.

<Power supply>
The control unit 8 is provided with a power supply device 12 for causing the canes 1a and 1b to function as communication devices. As the power supply device 12, a small and lightweight portable battery or battery can be applied. As shown in FIG. 2, the power supply device 12, the vibrator 10, and the BLE communication module 2 are housed inside the grips of the canes 1a and 1b. These can be taken out as needed. The light emitting device 11 is provided on the outer peripheral surfaces of the lower portions of the canes 1a and 1b.

<Timer>
A timer 35 as a measuring means is connected to the control unit 8. The timer 35 measures the elapsed time from the reference time. The reference time is, for example, the time when the battery of the power supply device 12 is replaced.

<Memory>
A memory 31 as a storage unit is connected to the control unit 8.

<User terminal device>
Next, the configuration of the user terminal devices 5a and 5b will be described with reference to FIG. FIG. 3 is a block diagram showing a configuration of a control system of the user terminal devices 5a and 5b that communicate with the BLE communication module 2 of the canes 1a and 1b.

<Control part>
As shown in FIG. 3, the control unit 15 provided in the user terminal devices 5a and 5b uses a mobile operating system (Android; registered trademark). The control unit 15 determines a predetermined distance according to a change in the distance L between the first user 6a who carries the cane 1a and the user terminal device 5a and the second user 6b who carries the cane 1b and the user terminal device 5b. Also serves as a switching unit that switches between the measurement of the distance L by the short-range wireless communication unit including the BLE communication modules 2 and 16 and the measurement of the distance L by the positioning unit including the GPS 22.

When the BLE communication modules 2 and 16 as short-distance wireless communication units are incorporated in the user terminal devices 5a and 5b, the control unit 15 controls the first user terminal device 5a owned by the first user 6a. Then, according to the change in the distance L with the second user terminal device 5b possessed by the second user 6b, the distance L by the short-distance wireless communication means including the BLE communication modules 2 and 16 is set with a predetermined distance as a threshold. It also serves as a switching unit that switches between measurement and measurement of the distance L by the positioning unit including the GPS 22.

The control unit 15 serving as a switching unit has a distance L between the first user 6a carrying the cane 1a and the user terminal device 5a and the second user 6b carrying the cane 1b and the user terminal device 5b which is equal to or greater than a predetermined threshold value. In that case, the distance L is measured by the positioning means including the GPS 22, and if the distance L between the first user 6a and the second user 6b is less than a predetermined threshold value, the BLE communication modules 2 and 16 are included. The distance L is measured by the short-range wireless communication means. Here, as a specific example of the “threshold value (predetermined distance)”, “50 m” described in FIG. 28A or the like can be applied. The "threshold value (predetermined distance)" can be appropriately set other than "50 m", and can be set to a different "threshold value (predetermined distance)" for each user terminal device 5.

Further, when the BLE communication modules 2 and 16 are built in the user terminal devices 5a and 5b, the control unit 15 as a switching unit controls the distance between the first user terminal device 5a and the second user terminal device 5b. If L is equal to or greater than a predetermined threshold value, the distance L is measured by the positioning unit including the GPS 22, and if the distance L between the first user terminal device 5a and the second user terminal device 5b is less than the predetermined threshold value. , The BLE communication modules 2 and 16 are used to measure the distance L. Here, as a specific example of the “threshold value (predetermined distance)”, “50 m” described in FIG. 28A or the like can be applied.

The control unit 8 provided on the canes 1a and 1b measures the distance L by the BLE communication modules 2 and 16 as short-distance wireless communication means by the control unit 15 as switching means provided to the user terminal devices 5a and 5b. The light emitting state of the light emitting device 11 as the light emitting means by the control signal received by the BLE communication module 2 as the first and second short-range wireless communication units when the measurement of the distance L by the GPS 22 as the positioning means is switched. And also as a control means for controlling at least one of the vibration states of the vibrator 10 as the vibration means.

<Control program>
According to the change in the distance L between the first user 6a and the second user 6b, the computer measures the distance by the short-distance wireless communication means and the distance by the GPS 22 as the positioning means with a predetermined distance as a threshold. To function as switching means. The switching unit is configured by the control unit 15 of each user terminal device 5a, 5b.

Further, a computer program for controlling the user terminal devices 5a, 5b owned by the users 6a, 6b respectively using the canes 1a, 1b is used by the control unit 15 as a switching unit to measure the distance by the short-range wireless communication unit. As a light emitting means by a control signal received by the BLE communication module 2 as the first and second short-range wireless communication units provided in each cane 1a, 1b when the distance measurement by the GPS 22 as the positioning means is switched. The light emitting device 11 functions as a control unit that controls at least one of the light emitting state and the vibration state of the vibrator 10 as the vibration unit. The control means is constituted by the control unit 8 of the canes 1a and 1b.

<BLE communication module>
A BLE communication module 16 is connected to the control unit 15. The BLE communication module 16 is a device for transmitting and receiving data between the BLE communication module 2 of the canes 1a and 1b and the user terminal devices 5a and 5b such as smartphones. The BLE communication module 16 can realize bidirectional communication in real time.

<Short-range wireless communication means by BLE communication module>
When the BLE communication module 2 of the cane 1a is assumed as the first short-range wireless communication unit carried by the first user 6a, the second short-range wireless communication unit carried by the second user 6b is used as the second short-range wireless communication unit. The BLE communication module 16 of the second user terminal device 5b is assumed. Then, the received radio wave intensity is detected between the BLE communication module 2 of the cane 1a as the first short-range wireless communication unit and the BLE communication module 16 of the second user terminal device 5b as the second short-range wireless communication unit. Then, the BLE communication module 2 and the BLE communication module 16 are configured as short-distance wireless communication means capable of measuring the distance L between them.

On the contrary, when the BLE communication module 16 of the first user terminal device 5a is assumed as the first short-range wireless communication unit possessed by the first user 6a, the second short-range wireless possessed by the second user 6b is assumed. The BLE communication module 2 of the cane 1b is assumed as a communication unit. Then, the received radio wave intensity is detected between the BLE communication module 16 of the first user terminal device 5a as the first short-range wireless communication unit and the BLE communication module 2 of the cane 1b as the second short-range wireless communication unit. Then, the BLE communication module 2 and the BLE communication module 16 are configured as short-distance wireless communication means capable of measuring the distance L between them.

<Other configuration in which BLE communication module is built in user terminal device>
The BLE communication module 2 provided on the canes 1a and 1b may be built in the first and second user terminal devices 5a and 5b. In that case, the first user terminal device 5a detects the received radio wave intensity between the BLE communication module 2 built in the second user terminal device 5b and the BLE communication module 16 built in the second user terminal device 5b. The BLE communication module 2 built in the terminal device 5a and the BLE communication module 16 built in the second user terminal device 5b may also be configured as a short-range wireless communication means capable of measuring the mutual distance L. it can.

On the contrary, the first user terminal 5a detects the received radio wave intensity between the BLE communication module 16 built in the first user terminal device 5a and the BLE communication module 2 built in the second user terminal device 5b. The BLE communication module 16 built in the terminal device 5a and the BLE communication module 2 built in the second user terminal device 5b can also be configured as a short-range wireless communication means capable of measuring the mutual distance L. it can.

<Application>
An application 17 is connected to the control unit 15. The application 17 is composed of computer software. The application 17 notifies the information transmitted from the BLE communication module 2 of the canes 1a and 1b or displays the content on the screen.

<Web browser>
The web browser 18 provided in the application 17 is software for displaying a web page on the screen. The Web is a document disclosure/browsing system that is standardly used on the Internet. You can publish and distribute documents that integrate characters, images, movies, etc. on the Internet, and you can also obtain and browse them.

<Web application>
The Web application 19 provided in the application 17 is computer software that can be used via the Internet.

<Internet communication module>
An internet communication module 20 is connected to the control unit 15. The internet communication module 20 realizes communication with the server device 7 from a wide area communication network via a base station or a specific access point. The internet communication module 20 is configured as a multicast communication means for transmitting/receiving a message to/from the server device 7. Here, the multicast communication means performs one-to-many communication, and information is transmitted to the plurality of user terminal devices 5a and 5b with the server device 7.

<Screen input/output section>
A screen input/output unit 21 is connected to the control unit 15. The screen input/output unit 21 performs screen display and user input. The screen input/output unit 21 is configured as a notification unit that outputs the notification information transmitted by the server device 7.

<GPS>
The control unit 15 transmits the first position information of the first user terminal device 5a and the second position information of the second user terminal device 5b to the server device 7 via the respective internet communication modules 20. A GPS (Global Positioning System) 22 is connected as a positioning means capable of measuring the mutual distance L from the first position information and the second position information. The GPS 22 is a device for measuring the current position on the earth by radio waves from artificial satellites. The GPS 22 can acquire the current position information of each of the users 6a and 6b who possess the canes 1a and 1b and the user terminal devices 5a and 5b.

<Vibration device>
A vibrator 24 is connected to the control unit 15. By driving the vibrator 24, the user terminal devices 5a and 5b vibrate. The users 6a and 6b who carry the canes 1a and 1b and the user terminal devices 5a and 5b can assist the notification or identification of information by the feeling of vibration of the user terminal devices 5a and 5b.

<Speaker>
A speaker 25 is connected to the control unit 15. When the users 6a and 6b, who carry the canes 1a and 1b and the user terminal devices 5a and 5b, send and receive the contact, the user can confirm the voice through the speaker 25. The controller 15 causes the speaker 25 to read the proximity notification message transmitted by the server device 7.

<Memory>
A memory 28 as a storage unit is connected to the control unit 15.

<Power supply>
A power supply device 34 is connected to the control unit 15.

<Server device>
Next, the configuration of the server device 7 will be described with reference to FIG. FIG. 4 is a block diagram showing the configuration of the server device 7.

<Control part>
The server device 7 illustrated in FIG. 4 includes a control unit 32 including an operating system. The control unit 32 also serves as a notification unit that notifies the user terminal devices 5a and 5b possessed by the users 6a and 6b who use the canes 1a and 1b of the proximity notification message based on the user information acquired from the database 27. Here, the user information is information handled only by the database 27. The user information includes information on users 6a and 6b as users who use the canes 1a and 1b.

The first user terminal device 5a owned by the first user 6a, the second user terminal device 5b owned by the second user 6b, and the first short-range wireless communication unit owned by the first user 6a. BLE communication module 2 provided on the first cane 1a, or BLE communication module 16 provided on the first user terminal device 5a, and second short-range wireless communication carried by the second user 6b. In a program for controlling a distance measuring system having the BLE communication module 2 provided on the second cane 1b as a unit or the BLE communication module 16 provided on the second user terminal device 5b and the server device 7. , The computer transmits the first position information of the first user terminal device 5a and the second position information of the second user terminal device 5b to the server device 7 via the Internet communication module 20, respectively. It is made to function as a positioning means capable of measuring the mutual distance from the first position information and the second position information. The positioning means is composed of the GPS 22 provided in each user terminal device 5a, 5b and the control unit 32 provided in the server device 7.

<Database>
The database 27 is connected to the control unit 32. The database 27 stores and manages various information such as account names and position information of the user terminal devices 5a and 5b possessed by the users 6a and 6b who use the canes 1a and 1b.

<Counter>
The control unit 32 is connected to the counter 4 as a counting unit.

<Memory>
A memory 33 as a storage unit is connected to the control unit 32.

<Clock>
A clock 3 as a time measuring means is connected to the control unit 32.

Next, with reference to FIGS. 5 to 12, a first cane 1a carried by the first user 6a, a first user terminal device 5a, and a second cane 1b carried by the second user 6b. , A function of transmitting communication information among the second user terminal device 5b, the server device 7, and the database 27 will be described.

In steps S1 and S11 of FIG. 5, the control units 8 of the canes 1a and 1b start advertising through the BLE communication module 2. In advertising, the device (peripheral or broadcaster) periodically delivers packets. In the case of advertising by peripherals, advertising packets that can be connected to multiple central points are distributed for the purpose of device discovery and interconnection. In the case of advertising using broadcasters, advertising packets that cannot be connected to multiple observers are distributed for the purpose of periodically distributing data and measuring the mutual distance. The central is mainly a central device and receives data from peripherals. An observer is a device that regularly receives data from a broadcaster.

Next, in steps S2 and S12, the control unit 15 of the user terminal devices 5a and 5b scans via the BLE communication module 16 to receive the advertising packet transmitted from the BLE communication module 2 of the canes 1a and 1b. Start. Here, the advertising packet is a communication packet transmitted from the peripheral or broadcaster in the advertisement, and the packet includes an area indicating that connection is possible or not. The packet receiving side (central or observer) can detect whether the advertisement is by the peripheral or the broadcaster by referring to this area. In the case of a broadcaster advertisement, the advertising packet can include data of a predetermined size, and the observer can read the data from this packet.

Next, in steps S3 and S13, the control unit 8 of the canes 1a and 1b transmits an connectable advertising packet through the BLE communication module 2 to generate a connection with the user terminal devices 5a and 5b. Next, in steps S4 and S14, the control unit 15 of the user terminal devices 5a and 5b receives the advertising packet transmitted from the BLE communication module 2 of the canes 1a and 1b via the BLE communication module 16.

Next, in steps S5 and S15, the control unit 15 of the user terminal devices 5a and 5b makes a connection request to the control unit 8 of the canes 1a and 1b. Next, in steps S6 and S16, the control unit 8 of the canes 1a and 1b establishes a connection with the user terminal devices 5a and 5b. Next, in steps S7 and S17, the control unit 8 of the canes 1a and 1b ends the advertisement. The timer 35 measures the elapsed time from the time when the advertisement is ended.

Next, in step S18, when the elapsed time measured by the timer 35 has passed the preset time interval, the process proceeds to step S19. In step S19, the control unit 8 of the cane 1a transmits the ID information of the cane 1a to the user terminal device 5a via the BLE communication module 2.

Next, in step S20, the control unit 15 of the user terminal device 5a receives the ID information of the cane 1a transmitted from the BLE communication module 2 of the cane 1a via the BLE communication module 16. After that, the control unit 15 of the user terminal device 5a uses the GPS 22 to obtain the reference point coordinates including the latitude and longitude, which is the current position of the user terminal device 5a.

Next, in step S21, the control unit 15 of the user terminal device 5a controls the transmission source address of the user terminal device 5a via the Internet communication module 20 and a reference point including the latitude and longitude of the current position of the user terminal device 5a. And the coordinates are transmitted to the server device 7.

Next, in step S22, the control unit 32 of the server device 7 acquires the current date and time by the clock 3. In addition, the control unit 32 of the server device 7 acquires the transmission source address transmitted from the user terminal device 5a and the reference point coordinates including latitude and longitude. Further, the control unit 32 determines the position information (latitude and longitude and the last update date and time) of the user terminal device 5a stored in the database 27 from the latitude and longitude based on the transmission source address acquired from the user terminal device 5a. Is updated using the reference point coordinates and the current date and time.

Next, in step S23, the control unit 32 of the server device 7 refers to the database 27 to search for position information. At this time, the control unit 32 of the server device 7 excludes the source address of the user terminal device 5a acquired in step S21 and the destination addresses of all other user terminal devices 5 including the user terminal device 5b and the latitude. The designated point coordinates consisting of longitude and the last update date and time are obtained.

Here, the control unit 32 of the server device 7 initializes the number of records whose proximity is updated to “0”, and acquires all position information (transmission destination address) other than the first user terminal device 5a acquired in step S23. And designated point coordinates and last update date and time), the processes of steps S24 to S31 are repeated based on the transmission source address of the first user terminal device 5a, the reference point coordinates, and the current date and time acquired in step S21. ..

Next, in step S24, the control unit 32 compares the last update date and time extracted by referring to the database 27 with the current date and time transmitted from the user terminal device 5a acquired in step S22, and determines that the predetermined time interval or more. Determine whether or not it has elapsed. In step S24, the control unit 32 determines that the difference between the last update date and time of the other user terminal device 5 including the user terminal device 5b acquired in step S23 and the current date and time acquired by the clock 3 in step S22 is a predetermined time interval. If it exceeds, the process proceeds to step S25. At this time, the control unit 32 determines that the target record extracted by referring to the database 27 is old information, and determines the proximity between the user terminal device 5a and other user terminal devices 5 including the user terminal device 5b. Out of range".

In step S24, the control unit 32 determines that the difference between the last update date and time of the other user terminal device 5 including the user terminal device 5b acquired in step S23 and the current date and time acquired by the clock 3 in step S22 is a predetermined time interval. If it is within the range, the process proceeds to step S26. At this time, the control unit 32 uses the transmission source address of the user terminal device 5a acquired in step S21 and the transmission destination address of the other user terminal device 5 including the user terminal device 5b extracted from the database 27, and two persons 1 A pair of pairs is created, and based on the reference point coordinates composed of the latitude and longitude specified by the source address and the specified point coordinates composed of the latitude and longitude specified by the destination address, the user terminal device 5a, A distance L between two points with another user terminal device 5 including the user terminal device 5b is calculated.

<Calculation of distance between two points>
The calculation of the distance L between the two points of the user terminal device 5a and the other user terminal devices 5 including the user terminal device 5b can be obtained by using the well-known Hubeny's formula. The Hubeny's formula is a formula used when measuring the distance L between two points on the surface of the earth in consideration of the fact that the earth is an ellipsoid. Here, if the latitude of the current position of the user terminal device 5a is y1 (radian) and the latitude of the current position of the other user terminal devices 5 including the user terminal device 5b is y2 (radian), the latitude between the two points The difference Dy (radian) is expressed by the following mathematical formula 1.

[Equation 1]
Dy=y1-y2

If the longitude of the current position of the user terminal device 5a is x1 (radian) and the longitude of the current position of the other user terminal device 5 including the user terminal device 5b is x2 (radian), the difference in longitude between the two points. Dx (radian) is expressed by the following mathematical expression 2.

[Equation 2]
Dx=x1-x2

Also, the average Py of the latitudes between the two points is the latitude y1 (radian) of the current position of the user terminal device 5a and the latitude y2 (radian) of the current position of the other user terminal devices 5 including the user terminal device 5b. The following equation 3 is used.

[Equation 3]
Py=(y1+y2)/2

A spheroid is used to approximate the shape of the earth consisting of a major radius α consisting of the equatorial radius and a minor radius β consisting of the polar radius. Using the major radius α and the minor radius β, the eccentricity E can be obtained by the following formula 4. Here, the eccentricity E is the ratio of the focal length to the major axis (2×α) which is the equator diameter. The focal length is the distance between two fixed points on the ellipse. An ellipse is a set of points with the same sum of distances from two fixed points.

[Equation 4]
E=((α ² −β ² )/α ² ) ^1/2

Here, W used for the denominator W ³ when finding the meridian curvature radius M and the denominator W when finding the rooster line curvature radius N uses the eccentricity E and the average Py of the latitude between the two points. Then, it can be obtained by the following equation 5. The meridian is the line connecting the north and south poles of the earth and representing the longitude (meridian). The rooster line (Bouyuusen; Prime vertical) is a line orthogonal to the meridian (latitude).

[Equation 5]
W=(1-E ² ×(sinPy) ² ) ^1/2

Further, the meridian curvature radius M can be obtained by the following formula 6 using W of the formula 5, the major radius α, and the eccentricity E.

[Equation 6]
M=α(1-E ² )/W ³

Further, the radius of curvature N of the rooster can be obtained by the following formula 7 using W of the formula 5 and the major radius α.

[Equation 7]
N=α/W

Further, the distance L between two points between the user terminal device 5a and another user terminal device 5 including the user terminal device 5b is a longitude difference Dx between the two points and a latitude difference Dy between the two points. Using the meridian radius of curvature M, the rooster line radius of curvature N, and the average Py of the latitude between the two points, it can be obtained by the following formula 8.

[Equation 8]
L={(Dy×M) ² +(Dx×N×cosPy) ² } ^1/2

In the distance calculation program, it is preferable to set the major radius α to 6378137 m and the eccentricity E to 0.081819190842965353 for calculation.

The control unit 32 of the server device 7 is based on the distance L between the two points of the user terminal device 5a and the other user terminal device 5 including the user terminal device 5b, which are calculated by the above formulas 1 to 8. , The proximity of the user terminal device 5a and other user terminal devices 5 including the user terminal device 5b is determined. The determination of the proximity degree by the control unit 32 is specified by the reference point coordinates including the latitude and the longitude specified by the source address of the user terminal device 5a and the destination address of another user terminal device 5 including the user terminal device 5b. When the distance L between the two points of the designated point coordinates consisting of latitude and longitude exceeds 150 m, it is determined to be “out of range”. If the distance L between the two points is 150 m or less and 50 m or more, it is determined to be “far”. If the distance L between the two points is less than 50 m, it is determined to be "near". The result determined by the control unit 32 is the proximity.

Next, proceeding to step S27 shown in FIG. 7, the control unit 32 of the server device 7 refers to the database 27 and the transmission source address of the user terminal device 5a and other user terminal devices 5 including the user terminal device 5b. Based on the transmission destination address of the user terminal device 5a, the degree of proximity between the user terminal device 5a and another user terminal device 5 including the user terminal device 5b is extracted from the database 27.

Then, the process proceeds to step S28, and it is determined whether the proximity extracted in step S27 is the same as the proximity determined in step S25 or step S26. In step S28, when the proximity extracted from the database 27 is the same as the proximity determined in step S25 or step S26, the process proceeds to step S32, and the control unit 32 does not update the proximity and proceeds to the next step. The process proceeds to the record, and it is determined whether or not the number of records acquired in step S23 is reached. In step S28, when the proximity extracted from the database 27 is different from the proximity determined in step S25 or step S26, the process proceeds to step S29, and the control unit 32 updates the proximity stored in the database 27. To do.

The condition for updating the degree of proximity acquired in step S25 or step S26 is that the degree of proximity acquired in step S25 or step S26 is different from the degree of proximity extracted from the database 27 in step S27, and is acquired in step S22. The transmission source address of the user terminal device 5a is the same as the transmission source address of the user terminal device 5a extracted from the database 27 in step S27, and transmission of another user terminal device 5 including the user terminal device 5b acquired in step S23 This is the case where the destination address is the same as the destination address of another user terminal device 5 including the user terminal device 5b extracted from the database 27 in step S27.

Next, in step S30, the control unit 32 of the server device 7 refers to the database 27 and acquires the account name of the user terminal device 5a from the database 27 based on the source address of the user terminal device 5a. Then, the control unit 32 of the server device 7 sets the account name and proximity of the user terminal device 5a for displaying a message to the destination address of the other user terminal device 5 including the user terminal device 5b updated in step S29. And the current date and time acquired in step S22 are transmitted.

Next, proceeding to step S31, the control unit 15 of another user terminal device 5 including the user terminal device 5b (hereinafter, described as representative of the “user terminal device 5b”) is transmitted from the server device 7. After receiving the account name, proximity, and current date and time of the user terminal device 5a via the Internet communication module 20, a message is generated and output.

Steps S24 to S31 perform repetitive processing. The process proceeds from step S30 to step S32, and if the number of records acquired in step S23 has not been reached, the process returns to step S24. In step S32, when the number of records acquired in step S23 is reached, the process proceeds to step S33, and the control unit 32 of the server device 7 determines that the number of records whose proximity has been updated by the repeating processing of steps S24 to S31 is “0”. Is larger than ".

In step S33, when the number of records whose proximity has been updated in the iterative process of steps S24 to S31 is larger than “0”, the process proceeds to step S34, and the control unit 32 of the server device 7 causes the user terminal device 5a to operate. Based on the transmission source address of the above, the database 27 is referred to, the proximity is aggregated, and the highest proximity is determined among the other user terminal devices 5 including the user terminal device 5b. Then, the highest proximity is set as the proximity status, and the proximity status is transmitted to the user terminal device 5a.

In step S33, when the number of records whose proximity has been updated by the repeating processing of steps S24 to S31 is "0", the processing is ended. Next, proceeding to step S35, the control unit 15 of the user terminal device 5a receives the proximity status transmitted from the server device 7 via the Internet communication module 20, and the control unit 15 of the user terminal device 5a The proximity status of the cane 1a is read via the BLE communication module 16. Next, in step S36, the control unit 8 of the cane 1a transmits the proximity status of the cane 1a to the user terminal device 5a via the BLE communication module 2.

Next, proceeding to step S37, the control unit 15 of the user terminal device 5a determines whether or not the proximity statuses of the cane 1a and the user terminal 5a are the same. In step S37, if the proximity status acquired from the cane 1a and the proximity status acquired from the server device 7 are different, the process proceeds to step S38, and the control unit 15 of the user terminal devices 5a and 5b causes the server device 7 to operate. The vibration and light emission signal data shown in FIG. 13 is created on the basis of the proximity status acquired from the, and transmitted to the canes 1a and 1b via the BLE communication module 16.

FIG. 13 is a diagram showing an example of signal data of a vibration pattern and a light emission pattern. When the signal data code in FIG. 13 is “01”, the vibration pattern and the light emission pattern when the proximity (proximity status) is changed to “out of range” are shown. When the signal data code in FIG. 13 is “02”, the vibration pattern and the light emission pattern when the proximity (proximity status) is changed to “far” are shown.

When the signal data code in FIG. 13 is “03”, the vibration pattern and the light emission pattern when the proximity (proximity status) is changed to “close” are shown. When the signal data code in FIG. 13 is “04”, the vibration pattern and the light emission pattern when the proximity (proximity status) is “very close” are shown.

In step S37, if the proximity statuses of the cane 1a and the user terminal 5a are the same, the process ends. After step S38, the process proceeds to step S39, where the control unit 8 of the canes 1a and 1b acquires the vibration and light emission signal data shown in FIG. 13 via the BLE communication module 16 and writes the acquired data in the memory 28.

Next, in step S40, the control unit 8 of the canes 1a and 1b causes the vibrator 24 to vibrate the canes 1a and 1b based on the vibration signal data written in the memory 28. Next, in step S41, the control unit 8 of the canes 1a and 1b causes the light emitting device 11 provided on the outer peripheral surface of the lower portions of the canes 1a and 1b to emit light based on the light emission signal data written in the memory 28. Then, the process ends.

After step S38, the process also proceeds to step S42, and the control unit 15 of the user terminal device 5a transmits the proximity status to the walking stick 1a via the BLE communication module 16. Next, in step S43, the control unit 8 of the walking stick 1a writes the proximity status acquired via the BLE communication module 2 in the memory 31. Next, proceeding to step S44, the control unit 8 of the cane 1a changes the time interval of the timer 35 according to the proximity status stored in the memory 31.

Next, proceeding to step S45, the control unit 8 of the cane 1a determines whether or not the proximity status stored in the memory 31 is "close". In step S45, when the proximity status stored in the memory 31 is “close”, the process proceeds to step S46, and the user terminal device 5a by the BLE communication module 2 and other user terminal devices 5 including the user terminal device 5b. The control unit 8 of the cane 1a transmits a disconnection request to the user terminal device 5a in order to switch to the measurement of the distance L between the two points.

In step S45, if the proximity status stored in the memory 31 is not "close", the process ends. Next, in step S47, the control unit 15 of the user terminal device 5a disconnects the connection with the walking stick 1a.

Next, proceeding to step S48, the control unit 15 of the user terminal device 5a starts rescanning in order to receive the advertising packet transmitted from the BLE communication module 2 of the cane 1a. Then, proceeding to step S49, the control unit 15 of the user terminal device 5a receives the advertising packet transmitted from the BLE communication module 2 of the cane 1a via the BLE communication module 16. After that, the process proceeds to step S50, and the control unit 15 of the user terminal device 5a makes a connection request to the control unit 8 of the cane 1a.

Next, in step S51, the control unit 8 of the cane 1a establishes a connection with the user terminal device 5a. Next, in step S52, the control unit 8 of the cane 1a ends the advertisement. After the control unit 8 of the cane 1a transmits a disconnection request to the user terminal device 5a in step S46, the control unit 15 of the user terminal device 5a disconnects the connection with the cane 1a in step S47. On the other hand, on the cane 1a side, the process proceeds from step S46 to step S61, and the control unit 8 of the cane 1a starts the advertisement via the BLE communication module 2.

Then, in step S62, the control unit 8 of the cane 1a is connected to measure the distance L between two points between the BLE communication module 2 of the cane 1a and the BLE communication module 16 of the user terminal device 5b. The improper advertising packet including the ID information of the cane 1a is transmitted.

On the other hand, in the user terminal device 5b, in step S15 of FIG. 5, the control unit 15 of the user terminal device 5b sends a connection request to the control unit 8 of the cane 1b, and then proceeds to step S71 to control the user terminal device 5b. The unit 15 starts rescanning to receive the advertising packet transmitted from the BLE communication module 2 of the cane 1b.

After that, the process proceeds to step S72, and the control unit 15 of the user terminal device 5b receives the advertising packet transmitted from the wand 1a, and acquires the ID information of the wand 1a and the signal strength reference value K from the advertising packet. At that time, the received signal strength J is also acquired from the advertising packet.

After that, the process proceeds to step S73, and the control unit 15 of the user terminal device 5b uses the signal intensity reference value K acquired from the BLE communication module 2 of the cane 1a via the BLE communication module 16 to the BLE communication module 2 of the cane 1a. The distance L between the two points with the BLE communication module 16 of the user terminal device 5b is calculated.

Here, in free space, the received signal strength J attenuates in inverse proportion to the square of the distance. Further, the control unit 15 of the user terminal device 5b is measured via the BLE communication module 16 at a position separated from the received signal strength J, which is the strength (dBm) of the electric wave received by the device, by a predetermined distance. The known received signal strength Js indicating the reference output signal strength can be acquired, and when the attenuation rate of the received signal strength J is n (constant), "n=2" in an ideal space without obstacles. .0”, the distance L between the two points can be calculated using the following formula 9.

[Equation 9]
J=Js-n×10×logL
L=10 ^(Js-J)/20

Next, in step S74, the control unit 15 of the user terminal device 5b determines whether or not the proximity of the distance L between the two points is "very close". If the degree of proximity is “very close” in step S74, the process proceeds to step S75, and the control unit 15 of the user terminal device 5b creates the vibration and light emission signal data shown in FIG. 13 based on the obtained degree of proximity. Then, the data is transmitted to the cane 1b via the BLE communication module 16.

If the degree of proximity is not "very close" in step S74, the process returns to step S71 and steps S71 to S75 are repeated. In step S75, after transmitting the vibration and light emission signal data to the cane 1b, the process proceeds to step S76, and the control unit 8 of the cane 1b acquires the vibration and light emission signal data shown in FIG. The acquired data is written in the memory 31.

Next, in step S77, the control unit 8 of the cane 1b causes the vibrator 10 to vibrate the cane 1b based on the vibration signal data written in the memory 31. Next, in step S78, the control unit 8 of the cane 1b causes the light emitting device 11 provided on the lower outer peripheral surface of the cane 1b to emit light based on the light emission signal data written in the memory 31.

After step S62 in FIG. 11, the process proceeds to step S81 in FIG. 12, and the control unit 8 of the cane 1a ends the advertisement. Then, it progresses to step S82 and the control part 8 of the cane 1a starts an advertisement via the BLE communication module 2. Next, in step S63, the control unit 8 of the cane 1a transmits an connectable advertising packet to generate a connection with the user terminal device 5a via the BLE communication module 2. Then, after step S52 of FIG. 12 which proceeds to step S49, the process returns to step S43 and steps S43 to S52 are repeated.

Next, the individual operations of the cane 1, the user terminal device 5, and the server device 7 will be described with reference to FIGS. 14 to 25. FIG. 14 is a flowchart showing the operation of the canes 1a and 1b. FIG. 15 is a flowchart showing the pairing processing operation in step S1100 of FIG. The control unit 8 of the first cane 1a carried by the first user 6a initializes the value of the proximity status in step S1001 of FIG. 14 when the power is turned on and is activated, and then executes a predetermined process in step S1002. A value (threshold of elapsed time) for controlling the cycle time of is initialized.

The control unit 8 of the first cane 1a starts the pairing process in step S1100. In the pairing process, in step S1101 shown in FIG. 15, the control unit 8 of the first walking stick 1a controls the BLE communication module 2 to perform a peripheral (mainly a peripheral device, which is a peripheral device) in short-range wireless communication. It acts as the sender of data).

Further, in step S1102 in FIG. 15, the control unit 8 of the first walking stick 1a controls the BLE communication module 2 to start the advertisement in the short-range wireless communication and broadcast the connectable advertising packet. Here, the broadcast is transmission to a plurality of information communication terminals. Here, the advertising packet includes a connectable advertising packet for the purpose of one-to-one data transmission/reception by pairing, and an unconnectable advertising packet for the purpose of only periodic data transmission such as a beacon function. May be included.

On the other hand, when the control unit 15 of the first user terminal device 5a possessed by the first user 6a is activated, it is a central unit (mainly a central device and a data receiving side) in short-range wireless communication, and It operates as an observer (the side that regularly receives data) and starts searching (scanning) peripheral peripherals.

In step S1103 of FIG. 15, when the controller 15 of the first user terminal device 5a receives the advertising packet transmitted from the first walking stick 1a, in step S1104 the transmission source is determined based on the received advertising packet. Then, the connection is requested to the first cane 1a. Next, in step S1105 of FIG. 15, when the BLE communication module 2 provided in the first cane 1a receives the connection request transmitted from the first user terminal device 5a, the control unit 8 causes the connection request. Is accepted and the connection is established.

When the pairing process of step S1100 shown in FIG. 14 is completed, the control unit 8 of the first cane 1a proceeds to step S1003, and starts the time measurement by the timer 35. Then, the process proceeds to step S1004, and the control unit 8 of the first cane 1a measures the elapsed time based on the timer 35. Then, the process proceeds to step S1005, and the control unit 8 of the first walking stick 1a compares the elapsed time measured by the timer 35 with the threshold value set in step S1002 of FIG. 14 or step S1302 of FIG.

In step S1005, when the elapsed time measured by the timer 35 is equal to or more than the threshold value, the process proceeds to step S1006, and the control unit 8 of the first walking stick 1a stops the timer 35. After that, the process proceeds to step S1007, and the control unit 8 transmits the ID information of the first cane 1a to the first user terminal device 5a via the BLE communication module 2. Next, proceeding to step S1008, the control unit 8 starts measuring the time by the timer 35.

Next, in step S1200, the control unit 8 of the first cane 1a executes the data transmission/reception process, and then proceeds to step S1300 to execute the roll switching process. In the BLE communication, each device on the transmitting side or the receiving side can be classified into four roles (peripheral, central, broadcaster, and observer) from the characteristics of the communication control method.

Then, returning to step S1004, the control unit 8 of the first cane 1a determines the elapsed time measured by the timer 35, and periodically repeats steps S1004 to S1300.

On the other hand, the control unit 15 of the first user terminal device 5a sets the ID information of the first cane 1a transmitted via the BLE communication module 2 of the first cane 1a to BLE in step S3101 shown in FIG. When it is received via the communication module 16, the process proceeds to step S3102, and the sender address is acquired from the ID information of the first cane 1a.

The control unit 15 of the first user terminal device 5a proceeds to step S3103 to acquire the reference point coordinates including the latitude and the longitude by the GPS 22. After that, the process advances to step S3104, and the source address acquired in step S3102 and the reference point coordinates acquired in step S3103 are transmitted to the server device 7 via the internet communication module 20. After that, the procedure advances to step S2100 shown in FIG. 23, and positioning and notification processing is started.

In step S2101 shown in FIG. 19, when the control unit 32 of the server device 7 receives the source address and the reference point coordinates transmitted from the first user terminal device 5a, it acquires the current date and time from the clock 3.

The control unit 32 of the server device 7 has a reference point composed of the source address of the first user terminal device 5a acquired in step S2101 of FIG. 19 and the latitude and longitude of the current position of the first user terminal device 5a. The coordinates and the current date and time acquired from the clock 3 are stored in the database 27 in step S2102 as the terminal ID information, the position information including latitude and longitude, and the last update date and time.

In step S2103, the control unit 32 of the server device 7 searches the database 27 for a record in which the transmission source address of the first user terminal device 5a and the terminal ID information are different, and finds all records other than the first user terminal device 5a. The terminal ID information of the record, the position information including latitude and longitude, and the last update date and time are extracted as the designated point coordinates including the destination address, latitude and longitude, and the last update date and time.

For example, when a first user 6a who uses the first cane 1a and a second user 6b who uses the second cane 1b are walking in the vicinity of 10 m apart from each other, the second cane 1b Second user possessed by second user 6b utilizing second cane 1b stored in database 27 by second user terminal device 5b possessed by second user 6b utilizing server 7 and server device 7 The destination address of the terminal device 5b, the designated point coordinates, and the last update date and time are extracted.

The control unit 32 of the server device 7 initializes the value of the number of updated records to “0”, and acquires all the records other than the first user terminal device 5a acquired in step S2103 (the destination address, the designated point coordinates, and the final coordinates). For each of (update date and time), the processing of step S2104 shown in FIG. 19 to step S2115 shown in FIG. 20 based on the transmission source address, reference point coordinates, and current date and time of the first user terminal device 5a acquired in step S2101. repeat.

In step S2105 of FIG. 19, the control unit 32 of the server device 7 determines whether the difference between the current date and time acquired by the clock 3 and the last update date and time extracted by referring to the database 27 exceeds a predetermined time interval. To do. If the difference time between the current date and time and the last update date and time is greater than the predetermined time interval set in advance, the process proceeds to step S2106, and the control unit 32 of the server device 7 causes the first user 6a and the second user 6a to The proximity with the user 6b is set as "out of service".

In step S2105, when the difference time between the current date and time and the last update date and time is within the predetermined time, the process proceeds to step S2107, and the control unit 32 of the server device 7 determines the latitude of the reference point coordinates and the reference point coordinates. The distance L between the two points of the first user 6a and the second user 6b is calculated based on the longitude, the latitude of the designated point coordinates, and the longitude of the designated point coordinates.

After that, proceeding to step S2108, if the distance L between the two points exceeds 150 m, it is set as "out of range", and if the distance L between the two points is 50 m or more and within 150 m, it is set as "far" and between the two points. If the distance L is less than 50 m, it is determined to be “close”, and the degree of proximity between the first user 6a and the second user 6b is determined.

For example, when the first user 6a using the first cane 1a and the second user 6b using the second cane 1b are walking in the vicinity of about 10 m apart from each other, the control unit of the server device 7 32 determines that the degree of proximity between the first user 6a and the second user 6b is “close”. Here, the distance L between the two points of the first user 6a and the second user 6b can be calculated by the equation (8).

In step S2109 of FIG. 20, the control unit 32 of the server device 7 extracts the proximity degree from the record in which the destination address of each user terminal device 5 and the terminal ID information stored in the database 27 are the same. After that, proceeding to step S2110, the control unit 32 of the server device 7 determines whether or not the proximity degree extracted from the database 27 and the calculated proximity degree are different.

When the two proximities are different in step S2110, the process proceeds to step S2111, and the control unit 32 of the server device 7 stores the transmission destination address and the proximity in the database 27 as the terminal ID information and the proximity, respectively. The counter 4 increments the value of the number of updated records by "1".

After that, proceeding to step S2112, the control unit 32 of the server device 7 extracts the account name from the record in which the transmission source address and the terminal ID information stored in the database 27 are the same. After that, the process advances to step S2113, and the account name, the proximity, and the current date and time are transmitted to the second user terminal device 5b. After that, the process advances to step S2114, and the control unit 15 of the second user terminal device 5b outputs the proximity notification message including the account name, the proximity, and the current date and time received from the server device 7.

The control unit 32 of the server device 7 repeats the processing from step S2104 shown in FIG. 19 to step S2115 shown in FIG. 20, and in step S2116, it is necessary to notify the proximity status based on the obtained update record number. To judge. In step S2110 of FIG. 20, the control unit 32 of the server device 7 determines whether the proximity degree extracted from the database 27 is different from the calculated proximity degree. If the two proximities are the same, the process advances to step S2115.

When the value of the number of updated records is larger than “0” in step S2116, the process proceeds to step S2117, and the control unit 32 of the server device 7 stores the source address and the terminal ID information stored in the database 27. Proximity is calculated from the records having the same value, and the proximity status is determined based on the result of the calculation. In step S2116, if the value of the number of updated records is “0”, the process ends.

<Judgment of proximity status>
In step S2117, when there is at least one record having a “closeness” to the proximity, the control unit 32 of the server device 7 sets the proximity status to “close”. When there is no record whose proximity is “close” and at least one record whose proximity is “far” exists, the control unit 32 of the server device 7 sets the proximity status to “far”.

When there is no record having a “proximity” and no record having a “proximity”, the control unit 32 of the server device 7 sets the proximity status to “out of range”. After that, the process advances to step S2118, and the control unit 32 of the server device 7 transmits the proximity status to the first user terminal device 5a.

Next, proceeding to step S3200, the control unit 15 of the first user terminal device 5a performs a proximity status update process. In step S3201 of FIG. 24, the control unit 15 of the first user terminal device 5a receives the proximity status transmitted from the server device 7 via the internet communication module 20. After that, proceeding to step S3202, the control unit 15 of the first user terminal device 5a requests reading of the proximity status of the first cane 1a via the BLE communication module 16.

Next, in step S1200, a data transmission/reception process is executed. In step S1205 of FIG. 16, when the control unit 8 of the first walking stick 1a serving as the peripheral detects the reading of the proximity status, the first user terminal device 5a serving as the central value of the held proximity status. Send to. The peripheral is a device used in combination with a computer. The central is mainly a central device and is a side that receives data.

In step S3203 of FIG. 24, the control unit 15 of the first user terminal device 5a receives the proximity status transmitted from the first walking stick 1a via the BLE communication module 16. Next, proceeding to step S3204, the control unit 15 of the first user terminal device 5a compares the proximity status transmitted from the server device 7 with the proximity status transmitted from the first cane 1a. , Determines whether an update is required.

When the two proximity statuses are different in step S3204, the process proceeds to step S3205, and the control unit 15 of the first user terminal device 5a operates as a vibrating unit based on the proximity status transmitted from the server device 7. The vibration state of the vibrator 10 and the control information of the light emitting state of the light emitting device 11 as the light emitting means are determined. After that, proceeding to step S3206 in FIG. 25, the control unit 15 of the first user terminal device 5a requests the first walking stick 1a to write a device output command via the BLE communication module 16.

Next, in step S1200, a data transmission/reception process is executed. In step S1209 of FIG. 17, the control unit 8 of the first walking stick 1a detects the writing of the device output command. After that, the process proceeds to step S1210, and the control unit 8 of the first walking stick 1a vibrates the first walking stick 1a by the vibrator 10 as the vibrating means based on the value of the received device output command. Further, the processing proceeds to step S1211, and the control unit 8 of the first walking stick 1a, based on the value of the received device output command, is an LED (Light Emitting Diode; ) Is emitted. After that, proceeding to step S3207 in FIG. 25, the control unit 15 of the first user terminal device 5a requests the writing of the proximity status of the first cane 1a via the BLE communication module 16.

Then, the process proceeds to step S1200, and data transmission/reception processing is executed. In step S1201 shown in FIG. 16, the control unit 8 of the first cane 1a receives a data access request from the first user terminal device 5a via the BLE communication module 2. Next, proceeding to step S1202, the control unit 8 of the first cane 1a analyzes the access request. Next, proceeding to step S1203, the control unit 8 of the first cane 1a determines whether the target data is a device output command or a proximity status. When the target data is the proximity status, the process proceeds to step S1204, and the control unit 8 of the first walking stick 1a determines whether the access method is read or write. When the access method is read, the process proceeds to step S1205, and the control unit 8 of the first walking stick 1a transmits the proximity status to the first user terminal device 5a via the BLE communication module 2. On the other hand, if the access method is writing in step S1204, the process proceeds to step S1206, and the control unit 8 of the first walking stick 1a receives the value received from the first user terminal device 5a via the BLE communication module 2. To update the proximity status. On the other hand, if the target data is the device output command in step S1203, the process proceeds to step S1215, and the control unit 8 of the first walking stick 1a transmits/receives the device output command. After steps S1205, S1206, and S1215, the process proceeds to step S1213, and the control unit 8 of the first walking stick 1a reads the next access request from the buffer of the BLE communication module 2. Next, proceeding to step S1214, the control unit 8 of the first walking stick 1a determines whether or not the next access request can be read from the buffer of the BLE communication module 2, and if the next access request can be read, the processing is performed. finish. If the next access request cannot be read from the buffer of the BLE communication module 2 in step S1214, the process returns to step S1202.

In step S3204 of FIG. 24, if the two proximity statuses are equal, the process ends. In step S1206 of FIG. 16, when the controller 8 of the first walking stick 1a as the peripheral detects the writing of the proximity status, it updates the proximity status with the received value.

In step S1301 of FIG. 18, the control unit 8 of the first walking stick 1a reads the proximity status transmitted from the first user terminal device 5a via the BLE communication module 2. Next, proceeding to step S1302, the control unit 8 of the first walking stick 1a sets the threshold value of the elapsed time based on the value of the proximity status.

<Elapsed time threshold setting>
When the proximity status is "out of service", the control unit 8 of the first walking stick 1a sets the threshold of the elapsed time to 45 seconds. When the proximity status is "far", the control unit 8 of the first walking stick 1a sets the threshold of the elapsed time to 15 seconds. When the proximity status is "close", the control unit 8 of the first walking stick 1a sets the threshold value of the elapsed time to 15 seconds.

In step S1303 of FIG. 18, the control unit 8 of the first walking stick 1a determines whether or not the proximity status is “close”. When the proximity status is “close”, the process proceeds to step S1304, and the first The control unit 8 of the wand 1a requests the first user terminal device 5a to disconnect.

Next, proceeding to step S1305, the control unit 15 of the first user terminal device 5a disconnects the connection with the first walking stick 1a. Next, proceeding to step S1306, the control unit 8 of the first cane 1a controls the BLE communication module 2 to act as a broadcaster (device that periodically transmits data to the observer) from the peripheral in BLE communication. Set.

Next, proceeding to step S1307, the control unit 8 of the first walking stick 1a controls the BLE communication module 2 to start an advertisement in short-range wireless communication, and transmits an unreachable advertising packet to the plurality of user terminal devices 5. To send (broadcast) to.

Next, the process proceeds to step S3000, and proximity determination processing by short-range wireless communication is executed. When the first walking stick 1a proceeds to step S3000 and executes the proximity determination processing by BLE communication, the advertisement is stopped in step S1308 shown in FIG. 18, and the BLE communication is performed by the pairing processing in step S1100 shown in FIG. From the broadcaster in the above, it operates as a peripheral in BLE communication. In step S3001 of FIG. 22, the second user terminal device 5b is an observer, and receives the advertising packet transmitted from the first walking stick 1a via the BLE communication module 16. Next, proceeding to step S3002, the control unit 15 of the second user terminal device 5b determines the transmission source based on the advertising packet received via the BLE communication module 16, and the ID information of the first walking stick 1a. To get

Next, proceeding to step S3003, the control unit 15 of the second user terminal device 5b determines whether or not the transmission source has been paired, and when the transmission source is not paired, step S3004, In step S3005, the control unit 15 of the second user terminal device 5b, based on the signal strength reference value received by the BLE communication module 16, sets the distance between the first cane 1a and the second user terminal device 5b ( (Proximity) is calculated, and if the calculated distance is within 10 m, it is “very close”, and if it is over 10 m, the proximity status is specified as “close”.

Here, the distance L between two points in the proximity determination processing by the short-range wireless communication can be calculated by the above-mentioned equation 9.

Next, in step S3005, the control unit 15 of the second user terminal device 5b determines whether the degree of proximity is “very close”. When the distance L calculated in step S3004 is less than 10 m, the control unit 15 of the second user terminal device 5b determines that the degree of proximity is “very close”. For example, when the user 6a who possesses the first cane 1a and the user 6b who possesses the second cane 1b are walking in the vicinity of 8 m apart from each other, the proximity is determined to be "very close". .. When the proximity is “very close”, the process proceeds to step S3006, and the control unit 15 of the second user terminal device 5b determines, based on the proximity, the vibration state of the vibrator 10 as the vibration unit and the light emission unit. The control information regarding the light emitting state of the light emitting device 11 is determined.

Next, proceeding to step S3007, the controller 15 of the second user terminal device 5b requests the controller 8 of the second cane 1b to write a device output command via the BLE communication module 16. In step S3005, if the proximity is not “very close”, the process ends.

In step S1207 shown in FIG. 17, when the controller 8 of the first walking stick 1a detects writing of the device output command, the process proceeds to steps S1209 and S1210, and based on the value of the device output command, the vibrator as the vibrating means. The first cane 1a is vibrated by 10. Further, the processing proceeds to step S1211, and the control unit 8 of the first walking stick 1a, based on the value of the received device output command, is an LED (Light Emitting Diode; light emitting diode) provided on the outer peripheral surface of the first walking stick 1a. ) Is emitted.

In step S1215 of FIG. 17, the control unit 8 of the first walking stick 1a executes transmission/reception of a device output command. In step S1207, the control unit 8 of the first walking stick 1a determines whether the access method of the device output instruction is read or write. When the access method of the device output command is read, the process proceeds to step S1208, and the control unit 8 of the first walking stick 1a sends the value of the device output command to the first user terminal device 5a via the BLE communication module 2. After transmitting, the process ends. In step S1207, when the access method of the device output command is writing, the process proceeds to step S1209, and the control unit 8 of the first walking stick 1a receives from the first user terminal device 5a via the BLE communication module 2. The device output instruction is updated with the specified value. Next, proceeding to step S1210, the control unit 8 of the first cane 1a causes the vibrator 10 to vibrate the first cane 1a based on the value of the device output command. Next, proceeding to step S1211, the control unit 8 of the first walking stick 1a causes the light emitting device 11 to emit light based on the value of the device output command. Next, proceeding to step S1212, the control unit 8 of the first walking stick 1a initializes the value of the device output command and ends the processing.

FIG. 26 is a diagram showing a data structure of proximity information, account information, and position information. FIG. 27A is a diagram showing an example of the data structure of account information, FIG. 27B is a diagram of proximity information, and FIG. 27C is a diagram showing an example of a data structure of position information. The source terminal ID of the proximity information, the destination terminal ID, and the terminal ID of the position information shown in FIG. 26 are registered as the terminal ID of the account information. This makes it possible to specify the source terminal ID of the proximity information, the destination terminal ID, and the terminal ID of the position information based on the terminal ID of the account information.

FIG. 28(a) shows a case where “Hanako-san” as the second user 6b has moved from the “out of service” area to the “far” area with respect to the first user 6a and the third user 6c. Is a diagram showing position information and proximity in the case where "Taro-san" is in the "far" area. 28B is an example of a screen displayed on the first user terminal device 5a possessed by the first user 6a in the state of FIG. 28A.

At this time, it is assumed that the third user 6c also has the third cane 1c and the third user terminal device 5c. Here, the proximity degree “close” shown in FIG. 28A is a case where the user 6 approaches within 50 m around the first user 6 a. Further, the proximity “far” is a case where the user 6 is away from the first user 6a by more than 50 m and within 150 m around the center. Further, the proximity “out of range” is a case where the user 6 is away from the first user 6a by more than 150 m with the center at the center.

In FIG. 29A, "Hanako-san" as the second user 6b is in the "far" area with respect to the first user 6a, and "Taro-san" as the third user 6c is "far away". FIG. 6 is a diagram showing position information and proximity when moving from the “Area” area to the “Near” area. FIG. 29B is an example of a screen displayed on the first user terminal device 5a possessed by the first user 6a in the state of FIG. 29A.

FIG. 30(a) shows that, with respect to the first user 6a, "Hanako-san" as the second user 6b moves from the "far" area to the "out of service" area and leaves the third user 6c. FIG. 3 is a diagram showing position information and proximity when “Taro-san” is in the “close” area. FIG. 30(b) is an example of a screen displayed on the first user terminal device 5a possessed by the first user 6a in the state of FIG. 30(a).

When the positional information and the proximity of each user 6 change with respect to the first user 6a as shown in FIG. 28(a)→FIG. 29(a)→FIG. 30(a), the first user 6a possesses The screen displayed on the first user terminal device 5a receives the proximity notification information at the timing when the proximity of each user 6 changes, and FIG. 28(b)→FIG. 29(b)→FIG. 30(b). ) Changes while leaving a history.

FIG. 31 shows a distance L between two points between the first user 6a and the second user 6b, a communication distance Lb for short-distance wireless communication, and a wide range distance range Lg measured by the GPS 22. It is a figure which shows a relationship. The distance L between the two points between the first user 6a and the second user 6b is determined by the GPS 22 provided in each of the first user terminal device 5a and the second user terminal device 5b. The distance L between the two points is constantly measured from the coordinates composed of the latitude and longitude of the two points with the second user 6b. The coordinate information is acquired by calling a position information acquisition API (Application Programming Interface) of Android (registered trademark) installed in each user terminal device 5, and the information is periodically transmitted to the server device 7. Then, each user terminal device 5 receives the calculation result.

FIG. 32 is a diagram showing how to notify each other when the distance L between two points between the first user 6a and the second user 6b becomes less than a predetermined threshold value. In FIG. 33, the distance L between the two points between the first user 6a and the second user 6b becomes closer, and the BLE communication module 16 of the user terminal device 5 of the other party and the BLE communication module of the cane 1 of the other user. FIG. 3 is a diagram showing how to notify each other when a short-distance wireless communication communication can be established between the two.

At this time, the cane 1 side is the peripheral and the user terminal device 5 side is the central. The cane 1 side as a peripheral continues to transmit packet data periodically, and the user terminal device 5 side as a central searches for the cane 1.

FIG. 34 is a diagram showing position information and proximity between the four users 6a to 6d. It is assumed that the users 6a to 6d have user terminal devices 5a to 5d and canes 1a to 1d, respectively. It is also possible to search the user terminal device 5 and the wand 1 which are the nodes closest to each other, and the user terminal device 5 and the wand 1 which are the nodes farthest from each other.

Further, by providing a plurality of thresholds of the wide range distance range Lg measured by the GPS 22 and setting a plurality of wide range distance ranges Lg1 and Lg2 measured by the GPS 22, it is possible to more finely determine the proximity between the users 6. You can FIG. 35 is a diagram showing a state in which vector information of movement between users 6 is created from time and movement directions by referring to a movement history between users 6 to predict movement. Ta1 to Ta3 and Tb1 to Tb3 shown in FIG. 35 indicate movement vectors of the users 6a and 6b, respectively. By utilizing machine learning or deep learning in consideration of such vector information, the proximity between the users 6 can be determined with higher accuracy, and the calculation efficiency can be improved. With this, it is possible to measure the distance between users when a plurality of users move. Thus, by possessing the cane 1 and the user terminal device 5 that the visually impaired person or the like routinely uses, they can be effectively used for collision prevention and waiting.

As an application example of the present invention, it can be applied to a distance measurement system that measures distances between a plurality of users.

Dx... Longitude difference between two points Dy... Latitude difference between two points E... Eccentricity J... Received signal strength Js... Known received signal strength L... Others including the user terminal device 5a and the user terminal device 5b Distance between two points with user terminal device Lb...Communication distance for short-distance wireless communication Lg...Distance range of wide level measured by GPS 22 M...Meridional radius of curvature N...Rainbow radius of curvature n...Received signal strength J Attenuation rate (constant)
Py... Average of latitude between two points Ta1 to Ta3, Tb1 to Tb3... Movement vector of users 6a and 6b W... Value used for denominator of radius of curvature of meridian and rooster line x1... of current position of user terminal device 5a Longitude x2...Longitude of current position of other user terminal device including user terminal device 5b y1...Latitude of current position of user terminal device 5a y2...Latitude of current position of other user terminal device including user terminal device 5b α... Major radius β... Minor radius 1... Cane 1a... Cane (first cane)
1b... cane (second cane)
1c... cane (third cane)
1d... Cane (4th cane)
2... BLE communication module (short-range wireless communication means; first and second short-range wireless communication units)
3... Clock 4... Counter 5... User Terminal Device 5a... User Terminal Device of User 6a (First User Terminal Device)
5b... User terminal device of user 6b (second user terminal device)
5c... User terminal device of user 6b (third user terminal device)
5d... User terminal device of user 6b (fourth user terminal device)
6... User 6a... User (first user)
6b... User (second user)
6c... User (third user)
6d... User (fourth user)
7... Server device 8... Control unit (control means) for the canes 1a and 1b
10... Vibrator (vibration means)
11... Light emitting device (light emitting means)
12... Power supply device 15... Control part of user terminal devices 5a and 5b of users 6a and 6b 16... BLE communication module (short-distance wireless communication means; short-distance wireless communication unit)
Reference numeral 17... Application 18... Web browser 19... Web application 31... Memory of canes 1a and 1b 35... Timers of canes 1a and 1b 20... Internet communication module 21 of user terminals 5a and 5b of users 6a and 6b 21... Users 6a and 6b Screen input/output unit 22 of the user terminal devices 5a and 5b of... GPS (positioning means)
24... Vibrator 25... Speaker 26... Timer of user terminal device 5a, 5b of user 6a, 6b 27... Database 28... Memory of user terminal device 5a, 5b of user 6a, 6b 32... Control part of server device 7 (positioning means) )
33... Memory of server device 34... Power supply device of user terminal devices 5a, 5b of users 6a, 6b

Claims (9)

A first user terminal device;
A second user terminal device;
A server device,
A distance measuring system having
Short-distance wireless communication means capable of detecting the intensity of received radio waves between the first user terminal device and the second user terminal device and measuring the distance between them.
The first position information of the first user terminal device and the second position information of the second user terminal device are transmitted to the server device, and the first position information and the second position information are transmitted. Positioning means that can measure the distance from each other,
Depending on the change in the distance between the first user terminal device and the second user terminal device, the distance measurement by the short-range wireless communication means and the distance measurement by the positioning means are performed with a predetermined distance as a threshold value. Switching means for switching,
A distance measuring system comprising: The switching means is
If the distance between the first user terminal device and the second user terminal device is greater than or equal to the threshold value, the distance is measured by the positioning means,
The distance according to claim 1, wherein if the distance between the first user terminal device and the second user terminal device is less than the threshold value, the short-distance wireless communication unit measures the distance. Measuring system. A first user terminal device carried by the first user;
A second user terminal device carried by the second user;
A first short-range wireless communication unit carried by the first user;
A second short-range wireless communication unit carried by the second user;
A server device,
A distance measuring system having
Short-distance wireless communication means capable of detecting the intensity of received radio waves between the first short-distance wireless communication unit and the second short-distance wireless communication unit to measure the distance between them.
The first position information of the first user terminal device and the second position information of the second user terminal device are transmitted to the server device, and the first position information and the second position information are transmitted. Positioning means that can measure the distance from each other,
Switching means for switching between measurement of the distance by the short-distance wireless communication means and measurement of the distance by the positioning means with a predetermined distance as a threshold value according to a change in the distance between the first user and the second user. ,
A distance measuring system comprising: The switching means is
If the distance between the first user and the second user is greater than or equal to the threshold value, the distance is measured by the positioning unit,
The distance measuring system according to claim 3, wherein if the distance between the first user and the second user is less than the threshold value, the short distance wireless communication unit measures the distance. The first short-range wireless communication unit is provided on a first cane carried by the first user,
The second short-range wireless communication unit is provided on a second cane carried by the second user,
The first and second canes each include at least one of a light emitting means and a vibrating means,
When the switching unit switches between the distance measurement by the short-range wireless communication unit and the distance measurement by the positioning unit, the control signal received by the first and second short-range wireless communication units causes the light-emitting unit to operate. Control means for controlling at least one of a light emitting state and a vibrating state of the vibrating means;
The distance measuring system according to claim 3 or 4, further comprising: The distance measuring system according to claim 5, wherein the first and second walking sticks are walking sticks used by a visually impaired person to assist walking. In a program for controlling a distance measuring system having a first user terminal device, a second user terminal device, and a server device,
Computer,
Short-distance wireless communication means capable of detecting the intensity of received radio waves between the first user terminal device and the second user terminal device and measuring the distance between them.
The first position information of the first user terminal device and the second position information of the second user terminal device are transmitted to the server device, and the first position information and the second position information are transmitted. Positioning means that can measure the distance from each other,
Depending on the change in the distance between the first user terminal device and the second user terminal device, the distance measurement by the short-range wireless communication means and the distance measurement by the positioning means are performed with a predetermined distance as a threshold value. Switching means for switching,
A program to make it work. A first user terminal device carried by a first user, a second user terminal device carried by a second user, a first short-range wireless communication unit carried by the first user, and the first user terminal device In a program for controlling a distance measuring system having a second short-range wireless communication unit possessed by two users and a server device,
Computer,
Short-distance wireless communication means capable of detecting the intensity of received radio waves between the first short-distance wireless communication unit and the second short-distance wireless communication unit to measure the distance between them.
The first position information of the first user terminal device and the second position information of the second user terminal device are transmitted to the server device to generate the first position information and the second position information. Positioning means that can measure the distance from each other,
Switching means for switching between measurement of the distance by the short-distance wireless communication means and measurement of the distance by the positioning means with a predetermined distance as a threshold value according to a change in the distance between the first user and the second user. ,
A program to make it work. The first short-range wireless communication unit is provided on a first cane carried by the first user,
The second short-range wireless communication unit is provided on a second cane carried by the second user,
The first and second canes each include at least one of a light emitting means and a vibrating means,
Computer,
When the switching unit switches between the distance measurement by the short-range wireless communication unit and the distance measurement by the positioning unit, the control signal received by the first and second short-range wireless communication units causes the light-emitting unit to operate. Control means for controlling at least one of a light emitting state and a vibrating state of the vibrating means;
The program according to claim 8, which is caused to function by being executed.

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