JP2022031746A - Target tracking system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a novel technology for tracking a moving target using a drone.

SOLUTION: A transmitter 32 and a communication terminal 90, which are mounted on a target; a management server 50 which communicates with the communication terminal; and a drone 200 are used. The drone comprises: a controller 202 that controls navigation; a communication device 204 connected to the controller; and a receiver 210 that can be received from the transmitter 32. The controller 202 is brought into a transmitter use mode under the condition that a connection between the communication terminal and the management server is not established, and autonomously navigates the drone based on a change in strengths of electromagnetic waves received from the transmitter 32 by the receiver 210 without depending on the management server; and as a result, when the connection between the communication terminal and the management server is established, the management server 50 is brought into a communication terminal use mode and determines a flight target point of the drone based on position information received from the communication terminal via a relay base station 206 and a ground base station 300.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a technique for tracking a moving target such as a pedestrian using a drone .

Techniques for guiding pedestrians while walking have already been proposed.

As a technique of this kind, for example, Patent Document 1 describes a mountain climbing information relay system. In this system, a plurality of short-range wireless communication devices (transmitter + receiver) are arranged side by side along a mountain climbing route. The mountain climbing server receives the route information from the user terminal, and based on the route information, each short-range wireless communication device sends necessary update information to the user terminal. The mountain climbing server transmits updated information to each short-range wireless communication device via a user terminal over a long distance. Each short-range wireless communication device receives the updated information from the user terminal, and updates the information to be transmitted to the user terminal based on the updated information.

Japanese Unexamined Patent Publication No. 2018-22454

In recent years, mountaineering has been attracting attention as leisure and sports, and in fact, the number of climbers tends to increase. Some climbers are skilled and some are inexperienced. In addition, not only inexperienced mountaineers but also experienced mountaineers, when climbing inexperienced mountains, in a situation where some damage is expected, nevertheless, a psychological phenomenon called normalcy bias occurs. It can occur, which can lead to unforeseen circumstances such as distress (eg, pedestrians deviating from the normal route).

However, in the above-mentioned conventional technique, the climber who may be in a psychologically panic state can judge whether he / she has lost his / her way, judge whether there is a risk of distress, and avoid the distress. We have no choice but to decide what to do and whether or not we were really in distress.

Therefore, this conventional technique assists the climber in calmly determining whether or not he or she has lost his or her own path before the accident, and also assists in calmly determining whether or not there is a risk of distress. Nor can it help to choose the right actions to avoid a distress when there is a risk of distress.

The problem of route deviation, in which pedestrians deviate from the regular route, can also occur in activities other than mountaineering. For example, when pedestrians tend to lose their sense of direction, for example, when walking in a natural environment such as forests and grasslands, when walking in an unfamiliar factory tour passage, or because the pedestrian himself is immature, such as children and the elderly. It can also occur when walking on school roads or walking paths.

Against this background, the present invention has been made to provide a novel technique for tracking a moving target such as a pedestrian by using a drone .

In order to solve the problem , according to an aspect of the present invention, it is a target tracking system that tracks a moving target.
A transmitter attached to the target that emits a unique signal.
The communication terminal used for the target and
A management server that has the function of communicating with the communication terminal,
With a drone
Including
The drone
A controller that controls the navigation of the drone,
The communication device connected to the controller and
With a receiver that can receive signals from the transmitter by short-range wireless communication method
Including
The management server transmits the spatial coordinate value of the location of the target to the communication device of the drone as information representing the flight target point, whereby the management server sends the space coordinate value to the drone via the controller. Instruct to dispatch,
The drone is equipped with a relay base station for the communication terminal in addition to the communication device, and the relay base station receives position information from the communication terminal within the communication range of the communication terminal, and receives the position information from the communication terminal. Send to the ground base station within the communication range of the relay base station,
The controller enters the transmitter use mode in a state where the connection between the communication terminal and the management server is not established, and the receiver receives radio waves from the transmitter without depending on the management server. Based on the change in strength, the drone is autonomously navigated toward the location of the target, thereby shifting to a connection establishment state in which a connection between the communication terminal and the management server is established.
The management server enters the communication terminal use mode in the connection establishment state, and targets tracking that determines the flight target point based on the position information received from the communication terminal via the relay base station and the ground base station. The system is provided.

Further , according to one aspect of the present invention, it is a victim search system that searches for a pedestrian when a pedestrian is in distress while walking.
A transmitter attached to the pedestrian that emits a unique signal.
The mobile terminal used for the pedestrian and
A management server having a function of communicating with the mobile terminal and a function of determining whether or not the pedestrian may have been injured based on a signal from the mobile terminal.
Including with drones
The drone
A controller that controls the navigation of the drone,
The communication device connected to the controller and
Including a receiver capable of receiving a signal from the transmitter by a short-range wireless communication method.
When the management server determines that the pedestrian may have been in distress, the management server transmits the spatial coordinate value of the pedestrian's location to the communication device of the drone as information representing a flight target point, thereby. The management server instructs the drone to dispatch via the controller, and the management server instructs the drone to be dispatched.
The drone is equipped with a relay base station for the mobile terminal in addition to the communication device, and the relay base station receives position information from the mobile terminal within the communication range of the relay base station and receives the position information. Send to the ground base station within the communication range of the relay base station,
The controller enters the transmitter use mode in a state where the connection between the mobile terminal and the management server is not established, and the receiver receives radio waves from the transmitter without depending on the management server. Based on the change in strength, the drone is autonomously navigated toward the location of the victim, thereby shifting to a connection establishment state in which a connection between the mobile terminal and the management server is established.
The management server is in the mobile terminal use mode in the connection establishment state, and the victim determines the flight target point based on the position information received from the mobile terminal via the relay base station and the ground base station. A search system is provided.
Further, according to another aspect of the present invention, it is a victim search system that searches for a pedestrian when a pedestrian is injured while walking.
When the mobile terminal of the victim and having the global positioning function can communicate with the management server at a remote location, the management server receives the information on the position on the earth from the mobile terminal. Based on, execute the mobile terminal use mode to search for the victim by remotely controlling the drone,
If the communication is poor, the mode is switched to the transmitter use mode in order to improve the communication status, and the mobile terminal and the ground base are based on the change in the strength of the signal received from the transmitter of the same victim. When a drone equipped with a relay base station that relays to a station autonomously navigates and the relay base station enters the communication range of the mobile terminal, and thereby the communication becomes possible, the mode is switched to the mobile terminal use mode. An alternative distress search system is provided.

Further, according to an aspect of the present invention, it is a victim search system that searches for a pedestrian when a pedestrian is injured while walking.
A transmitter attached to the pedestrian that emits a unique signal.
The mobile terminal used for the pedestrian and
A management server having a function of communicating with the mobile terminal and a function of determining whether or not the pedestrian may have been injured based on a signal from the mobile terminal.
Including with drones
The drone
A controller that controls the navigation of the drone,
The communication device connected to the controller and
Including a receiver capable of receiving a signal from the transmitter by a short-range wireless communication method.
When the management server determines that the pedestrian may have been in distress, the management server transmits the spatial coordinate value of the pedestrian's location to the communication device of the drone as information representing a flight target point, thereby. The management server instructs the drone to dispatch via the controller, and the management server instructs the drone to be dispatched.
The drone is equipped with a relay base station for the mobile terminal in addition to the communication device, and the relay base station receives position information from the mobile terminal within the communication range of the relay base station and receives the position information. Send to the ground base station within the communication range of the relay base station,
The controller provides a victim search system that causes the drone to navigate toward the location of the victim based on changes in the intensity of radio waves received by the receiver from the transmitter.

According to one aspect of the present invention, it is a pedestrian guidance system that guides a pedestrian while walking.
A plurality of guide transmitters installed discretely and in series along a walking path, and each guide transmitter emits an identification signal representing a unique transmitter ID.
A user terminal that is a pedestrian communication terminal that can receive an identification signal from each guide transmitter using a short-range wireless communication method.
Including a management server capable of communicating with the user terminal
The user terminal or the management server
The user terminal includes a walking state determination unit that determines whether or not there is an abnormality in the walking state of a pedestrian based on the reception state of the identification signal from each guide transmitter.
The user terminal is
When the walking state determination unit determines that the walking state of the pedestrian is abnormal, a warning unit that issues a warning to the pedestrian and a warning unit.
It includes a confirmation button display unit that keeps displaying the confirmation button operated by the pedestrian on the screen until the pedestrian operates when the warning is confirmed by the pedestrian.
The user terminal or the management server
An emergency situation determination unit that determines that a pedestrian may have fallen into an emergency when the confirmation button is not operated by a pedestrian even if the continuous display time of the confirmation button exceeds a predetermined time limit.
Memory in which other pedestrians accompanying pedestrians are registered,
When the emergency determination unit determines that the pedestrian may have fallen into an emergency, the emergency information transmission to transmit the emergency information to the communication terminal of another pedestrian registered in the memory. A pedestrian guidance system including departments is provided.

Further, according to another aspect of the present invention, it is a pedestrian guidance system that guides a pedestrian while walking.
A plurality of guide transmitters installed discretely and in series along a walking path, and each guide transmitter emits an identification signal representing a unique transmitter ID.
A pedestrian transmitter attached to a pedestrian that emits an identification signal representing a unique transmitter ID.
A user terminal that is a pedestrian communication terminal that can receive an identification signal from each guide transmitter using a short-range wireless communication method.
An unmanned aerial vehicle equipped with an aerial mobile relay base station for the user terminal and a receiver capable of receiving an identification signal from the pedestrian transmitter.
Including a management server capable of communicating with the user terminal
The user terminal or the management server
The user terminal includes a walking state determination unit that determines whether or not there is an abnormality in the walking state of a pedestrian based on the reception state of the identification signal from each guide transmitter.
The user terminal is
When the walking state determination unit determines that the walking state of the pedestrian is abnormal, a warning unit that issues a warning to the pedestrian and a warning unit.
It includes a confirmation button display unit that keeps displaying the confirmation button operated by the pedestrian on the screen until the pedestrian operates when the warning is confirmed by the pedestrian.
The user terminal or the management server states that the pedestrian may have fallen into an emergency when the confirmation button is not operated by the pedestrian even if the continuous display time of the confirmation button exceeds a predetermined time limit. Including the emergency judgment unit to judge
When the management server determines that a pedestrian may have fallen into an emergency by the emergency determination unit, the management server is provided on the condition that a connection between the user terminal and the management server is established. A communication terminal-based search mode for searching for a pedestrian using the positioning function and the communication function of the user terminal and a connection between the pedestrian transmitter and the receiver mounted on the drone are established. Provided is a pedestrian guidance system that selectively executes a transmitter-based search mode for searching for a pedestrian by using the location authentication function and the communication function of the pedestrian transmitter.

Each of the following aspects is obtained by the present invention. Each aspect shall be divided into sections, each section shall be numbered, and the numbers of other sections shall be quoted as necessary. This is to facilitate understanding of some of the technical features that can be adopted by the present invention and their combinations, and the technical features that can be adopted by the present invention and their combinations are limited to the following aspects. Should not be interpreted as. That is, it should be interpreted that it is not hindered from appropriately extracting and adopting the technical features described in the present specification as the technical features of the present invention, which are not described in the following aspects.

Furthermore, describing each section in the form of quoting the numbers of the other sections does not necessarily prevent the technical features described in each section from being separated and independent from the technical features described in the other sections. It does not mean, and it should be interpreted that the technical features described in each section can be made independent as appropriate according to their properties.

(1) A pedestrian guidance system that guides pedestrians while walking.
A plurality of transmitters installed so as to be arranged discretely and in series along a walking path, and each transmitter emits an identification signal representing a unique transmitter ID.
Includes communication terminals for each pedestrian that can receive identification signals from each transmitter using short-range wireless communication.
The communication terminal of each pedestrian is
When an identification signal is received from any of the transmitters, the reference transmitter determination unit that determines one of the transmitters as the reference transmitter whose passage of pedestrians has been confirmed, and
After the reference transmitter is determined, the walking route among the plurality of transmitters is referred to by referring to the mapping data representing the order in which the plurality of transmitters are lined up along the walking route assigned in advance to the walking route. In the target transmitter determination unit that determines the one located next to the reference transmitter as the target transmitter,
A walking state determination unit that determines that the walking state of a pedestrian is abnormal if the identification signal is not received from the target transmitter even after a predetermined time limit has elapsed from the time when the identification signal is received from the reference transmitter. ,
Includes a warning section that informs pedestrians of the judgment result and warns them.
The reference transmitter determination unit and the target transmitter determination unit are pedestrian guidance systems that are repeatedly executed.

(2) A pedestrian guidance system that guides pedestrians while walking.
A plurality of transmitters installed so as to be arranged discretely and in series along a walking path, and each transmitter emits an identification signal representing a unique transmitter ID.
It includes communication terminals of each pedestrian that can receive identification signals from each transmitter by short-range wireless communication method and management servers that can communicate with the communication terminals of each pedestrian.
The management server is
When the communication terminal of each pedestrian receives the identification signal from any of the transmitters, the reference transmitter determination unit that determines one of the transmitters as the reference transmitter whose passage of the pedestrian is confirmed, and
After the reference transmitter is determined, the walking route among the plurality of transmitters is referred to by referring to the mapping data representing the order in which the plurality of transmitters are lined up along the walking route assigned in advance to the walking route. In the target transmitter determination unit that determines the one located next to the reference transmitter as the target transmitter,
If the communication terminal of each pedestrian does not receive the identification signal from the target transmitter even if a predetermined time limit elapses from the time when the communication terminal of each pedestrian receives the identification signal from the reference transmitter, the pedestrian's communication terminal A walking state determination unit that determines that there is an abnormality in the walking state,
Including a transmitter that transmits the determination result to a pedestrian communication terminal,
The reference transmitter determination unit and the target transmitter determination unit are pedestrian guidance systems that are repeatedly executed.

(3) The predetermined time limit is the path, altitude difference, slope, and road surface type (paved road, gravel road, muddy road, cliff road, wide road) between the reference transmitter and the target transmitter in the walking route. The pedestrian guidance system according to item (1) or (2), which has a variable length depending on at least one of (road, narrow road, etc.).

(4) The pedestrian guidance according to any one of (1) to (3), wherein the determination result that the walking state is abnormal is visually, audibly and / or tactilely transmitted to the pedestrian. system.

(5) Any of the items (1) to (4), wherein the abnormality in the walking state includes at least one of the possibility that the pedestrian has lost his way and the possibility that the pedestrian has deviated from the walking path. Pedestrian guidance system described in Crab.

(6) The communication terminal further
When an identification signal is received from any of the transmitters, a map, a current position, and a display unit that displays the installation position of any of the transmitters in an overlay state are included on the screen of the communication terminal (1). Or the pedestrian guidance system according to any one of (5).

(7) The walking route includes at least one of a mountain road, a forest road, a tour passage in a facility, a school road, a walking road, and a cycling course, each of which has a fixed walking route (1) to ( 6) The pedestrian guidance system according to any one of the items.

(8) A program for operating a computer as a communication terminal according to any one of (1) to (7).

Throughout this specification, the term "program" may be construed to mean, for example, a combination of instructions executed by a computer to perform its function, as well as a combination of those instructions, as well as each instruction. It can be interpreted to include, but is not limited to, files and data processed in accordance with.

In addition, this program may achieve its intended purpose by being executed by a computer alone, or by being executed by a computer together with other programs. Yes, but not limited to them. In the latter case, the program according to this section may be based on data, but is not limited thereto.

(9) The program for operating the computer as the management server according to any one of (1) to (7).

(10) A recording medium on which the program according to (8) or (9) is recorded so as to be readable by a computer.

Throughout the specification, the term "recording medium" can be interpreted to mean various types of recording media, such recording media being magnetic recordings such as, for example, flexible discs. It includes, but is not limited to, media, optical recording media such as CDs and CD-ROMs, magneto-optical recording media such as MOs, unremovable storage such as ROMs, and the like.

(11) A pedestrian guidance method that guides pedestrians while walking.
The method is
A plurality of transmitters installed so as to be arranged discretely and in series along a walking path, and each transmitter emits an identification signal representing a unique transmitter ID.
It is executed using a communication terminal of each pedestrian that can receive the identification signal from each transmitter by the short-range wireless communication method.
The pedestrian guidance method is
When the communication terminal of each pedestrian receives the identification signal from any of the transmitters, the reference transmitter determination process of determining one of the transmitters as the reference transmitter, and the reference transmitter determination process.
After the reference transmitter is determined, the walking route among the plurality of transmitters is referred to by referring to the mapping data representing the order in which the plurality of transmitters are lined up along the walking route assigned in advance to the walking route. In the target transmitter determination process of determining the one located next to the reference transmitter as the target transmitter in
If the communication terminal of each pedestrian does not receive the identification signal from the target transmitter even if a predetermined time limit elapses from the time when the communication terminal of each pedestrian receives the identification signal from the reference transmitter, the pedestrian will The lost state determination process to determine that you may be lost, and
It includes a warning process that informs pedestrians of the judgment result and warns them.
Each of the reference transmitter determination step and the target transmitter determination step is a pedestrian guidance method that is repeatedly executed.

FIG. 1 is a system diagram conceptually showing a hardware configuration of a mountain trail guidance system according to an exemplary embodiment of the present invention.

FIG. 2 is an example of a layout in which a plurality of guide transmitters in the mountain trail guidance system shown in FIG. 1 are installed on a mountain trail in a mountainous area, and the plurality of guide transmitters are arranged in a row along the trail. It is a schematic perspective view which shows what was installed.

FIG. 3 is an enlarged perspective view showing two of the plurality of guide transmitters in FIG. 2 adjacent to each other.

FIG. 4 is a functional block diagram showing the guide transmitter and the mountaineer transmitter shown in FIG. 2 having a common configuration.

FIG. 5 is a functional block diagram showing a mobile terminal of a mountaineer shown in FIG.

FIG. 6A shows that in the mountain trail guidance system shown in FIG. 1, the same mobile terminal sends a signal from the adjacent transmitter B before the time limit elapses from the time when the mobile terminal receives the signal from the transmitter A. It is a graph which shows an exemplary normal walking state scenario to receive, and FIG. It is a graph which shows exemplary the abnormal walking state scenario in which the same mobile terminal does not receive a signal from the adjacent transmitter B.

FIG. 7 shows a predetermined relationship between the transmitter ID of each guide transmitter and the position of each guide transmitter on the map, and the order in which a plurality of guide transmitters are lined up along the walking route of the mountain trail. , A table that conceptually represents mapping data that represents the time limit in relation to each other.

FIG. 8A is a graph showing an example in which the altitude gradually changes between two points adjacent to each other on the mountain trail shown in FIG. 2, and FIG. 8B is a graph showing the example between the two points. It is a graph showing an example in which the altitude changes suddenly, and the figure (c) shows the length of the reference time S in the scenario represented by the product of the reference time S and the correction coefficient k. It is a graph schematically showing that it increases according to the distance d between the two points, and in the figure (d), the correction coefficient k corresponds to the altitude difference Δh between the two points. It is a graph which shows the increase exemplarily.

FIG. 9 is a functional block diagram showing the management server shown in FIG.

FIG. 10 is a flowchart conceptually representing a plurality of programs for explaining the software configuration of the mountain trail guidance system shown in FIG. 1.

FIG. 11A is an example of the first page displayed on the screen of the mobile terminal shown in FIG. 1 that assists the user in data input for distinguishing between climbing and descending. FIG. 2B is a second page displayed on the screen for giving a warning to the user when the user may have lost his way. It is a plan view schematically shown, and FIG. 3 (c) is a third page displayed on the screen, and is a process of executing the management server after a warning is given to the user. It is a top view exemplifying what is to explain to.

Hereinafter, one of a plurality of more specific and exemplary embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 conceptually shows a system diagram of a hardware configuration of a mountain trail guidance system (hereinafter, simply referred to as “system”) 10 according to an embodiment of the present invention.

<About the outline of the system>

Briefly, as shown in FIG. 2, this system 10 uses a mountaineer who is a user (an example of a “pedestrian”) as a mountain trail 14 (an example of a “walking route”) in a mountainous area 12. An example. In an example of a mountain route, it is determined that the walking condition of the climber is abnormal (whether it may have been lost or deviated from the mountain trail 14, etc.), and the result is determined. To warn the climber, and finally to help guide the climber along the correct walking route (in the correct direction, along the correct path), thereby preventing distress. It has a route guidance function.

<Mountain trail guidance function>

In this system 10, in order to realize the mountain trail guidance function, a plurality of guide transmitters 30 are installed discretely and in series along the mountain trail 14. The guide transmitters 30 are arranged in series at equal intervals (for example, at intervals of 10 m, 50 m, 100 m, 500 m, and 1 km). Alternatively, the plurality of guide transmitters 30 may be arranged in series at variable intervals that decrease as they approach the end point of the trail 14.

Each guide transmitter 30 may be artificially installed on the mountain trail 14, for example, a support or a sign, or a natural object growing on the mountain trail 14, for example, a natural tree or a tree. It may be attached to.

The signals from the plurality of guide transmitters 30 are sequentially received by the climber's mobile terminal 90 (an example of a "communication terminal") in a short-range wireless communication system as the climber walks. The mobile terminal 90 can wirelessly communicate with a management server 50 operated and managed by a management center 40 installed in a remote location from the mountainous region 12.

In order to realize the mountain climbing route guidance function, the mobile terminal 90 alone or in cooperation with the management server 50, the climber's walking route (where to walk) and walking while climbing or descending the mountain. Warn climbers (notify climbers that they may be lost and warn them) so that both routes (in which direction they walk) do not deviate from the legitimate ones. (Awakening, etc.) and route guidance.

Here, the "warning" includes, for example, announcing that a mountaineer may have lost his way in the mountainous area 12, calling attention to the mountaineer, or urging corrective action as it is. If you continue walking, you may be notified that the radio waves of the mobile terminal 90 will enter the communication range that does not reach the other mobile terminals 90. Outside the communication range, for example, there is an area where there is no receivable ground base station 300 (see Fig. 2) nearby, or because there are tall trees and adjacent mountains around the climber, the climber's There is an area where the radio waves of the mobile terminal 90 are cut off.

In addition, as "route guidance (route guidance, course guidance, route guidance, etc.)", for example, the climber is provided with position information and direction information for correcting the actual walking route and course to a regular walking route and course. Doing so, for example, may visually, audibly, or tactilely inform the user of a message that "because you are lost, it is desirable to turn back on your current route."

In this example, when the climber's mobile terminal 90 in a lost state detects that it is in a lost state by using the guide transmitter 30, it is decided to call attention and to return to the current route. In order to encourage the climber to do so, the message may be output in text, image or voice, or the confirmation of the message by the climber this time may be confirmed as an operation of the "confirmation button". In this case, the climber's mobile terminal 90 may continue to display the same button until the "confirmation button" is tapped by the user.

Nevertheless, if the continuous display time of the "confirmation button" exceeds a predetermined time limit but the "confirmation button" is not tapped by the user, the climber's mobile terminal 90 is the user. It is determined that the mountaineer may have fallen into an emergency (for example, a distress), and this is transmitted to the management server 50, and each of the other mountaineers (accompanying persons) belonging to the same party. It is transmitted to the mobile terminal 90 all at once.

Further, the mobile terminal 90 of each mountaineer has a positioning function (for example, a positioning function using GPS, a ground base station 300) of the mountaineer during the mountaineering, at all times, or from the time when the warning is issued to the mountaineer. The position information by the used positioning function) is acquired in a time-dependent manner, and the position information is sequentially transmitted to the management server 50 in order to facilitate the search work in the event of a distress.

Upon receiving the location information, the management server 50 sequentially stores the location information in the memory 162 (see FIG. 9) in time series in association with the user ID / device ID of each climber's mobile terminal 90. When a distress occurs in the mountaineer, the mountaineer's mobile terminal 90 accesses the management server 50, and the management server 50 extracts the action history of the mountaineer's victim from the memory 162 and accompanies another. It is transmitted to the mobile terminal 90 of the person. Therefore, the management server 50 and other companions can track the location of the victim at least from the time the warning was given to the victim.

The behavior history of the victim, that is, the tracking result, is used, for example, for the search work of the victim by other companions or rescue workers. Further, the action history of the victim is used when the management server 50 determines the flight target point of the drone 200, which will be described later.

In this system 10, in order to realize the mountain trail guidance function, when the mountaineer's mobile terminal 90 receives the identification signal from any of the guide transmitters 30, the climber uses any of the guide transmitters 30. It is decided as a reference transmitter (start transmitter, departure point transmitter, etc.) whose passage has been confirmed.

After determining the reference transmitter, the mobile terminal 90 refers to the mapping data (see FIG. 7), which will be described later, downloaded from the management server 50, and thereby, among the plurality of guide transmitters 30, the walking route (see FIG. 2). In, the one located next to the reference transmitter is determined as the target transmitter (forward transmitter, adjacent transmitter, target point transmitter, etc.).

Further, when the mobile terminal 90 receives the identification signal from the target transmitter before the predetermined time limit f elapses from the time when the identification signal is received from the reference transmitter, the climber's walking state is normal (road). On the other hand, if the identification signal is not received from the target transmitter even after the predetermined time limit f has elapsed, the climber's walking condition may be abnormal (there may be lost). Yes).

FIG. 3 is an enlarged perspective view showing two of the plurality of guide transmitters 30 in FIG. 2 adjacent to each other. The two guide transmitters 30 are installed at two points A and B adjacent to each other. In the example shown in FIG. 3, the point A is located at the entrance point (start point, start point) of the mountain trail 14, and the point Z is located at the top point (turning point, end point, end point) of the mountain trail 14. To position.

During mountain climbing (when climbing the mountain trail 14) (in the walking route, ascending direction, and climbing direction during mountain climbing), point B is ahead of point A in the traveling direction, so the guide transmitter 30 at point A. Is the reference transmitter, the guide transmitter 30 at point B is the target transmitter.

On the other hand, during the descent (when descending the mountain trail 14) (in the walking route, descent direction, and descent direction during the descent), the point A is ahead of the point B in the traveling direction, so that the point B When the guide transmitter 30 is the reference transmitter, the guide transmitter 30 at the point A is the target transmitter.

Further, as illustrated in FIG. 3, the distance d between the guide transmitter 30 at the point A and the guide transmitter 30 at the point B, not exactly the shortest distance, but the mountain trail 14 was measured along it. There is a length of time. Further, there is also an altitude difference Δh between the guide transmitter 30 at the point A and the guide transmitter 30 at the point B.

Further, as illustrated in FIG. 3, the reception area for the guide transmitter 30 at the point A and the reception area for the guide transmitter 30 at the point B do not overlap each other, so that the guide transmitters 30 of the respective guide transmitters 30 do not overlap with each other. Since the reception range is set, one mobile terminal 90 does not effectively receive the identification signal from the two guide transmitters 30 at each moment.

FIG. 6A shows that in this system 10, the same mobile terminal 90 is located next to the point before the predetermined time limit f elapses from the time when the mobile terminal 90 receives the signal from the guide transmitter 30 at the point A. A normal walking state scenario in which a signal is received from the guide transmitter 30 of B is schematically shown in a graph.

On the other hand, in FIG. 6B, in this system 10, even if a predetermined time limit f elapses from the time when the mobile terminal 90 receives the signal from the guide transmitter 30 at the point A, the same mobile terminal 90 is shown. The abnormal walking state scenario in which the signal is not received from the guide transmitter 30 at the adjacent point B is exemplified by a graph.

As shown in FIG. 6B, in this system 10, even if a predetermined time limit f has elapsed, if the mobile terminal 90 does not receive a signal from the guide transmitter 30 at the adjacent point B, the mobile terminal 90 However, it is determined that the walking state (traveling direction, etc.) of the climber is abnormal (for example, lost), and a warning is given to the climber.

If the climber does not notice the warning, the climber's mobile terminal 90 or management server 50 may be distressed by the climber's mobile terminal 90 for each of the other companions. Are sent all at once. Further, in order to realize the above-mentioned victim search function, the management server 50 executes the victim search mode.

FIG. 7 shows a predetermined relationship between the transmitter ID of each guide transmitter 30 and the installation position of each guide transmitter 30 on the map, and a plurality of guides along the correct walking route of the mountain trail 14. The mapping data in which the order in which the transmitters 30 are arranged and the length of the time limit f described above are associated with each other is conceptually represented by a table.

The mapping data is originally stored in the memory 162 of the management server 50, and when accessed from an arbitrary mobile terminal 90, the management server 50 transmits the mapping data to the mobile terminal 90, thereby. The mobile terminal 90 downloads mapping data from the management server 50 and stores it in its own memory 132 (see FIG. 5).

<About setting the time limit f>

In this system 10, the time limit f is set for each point pair consisting of two points adjacent to each other, as shown in FIG. 7. The time limit f assumes a climber with normal athletic ability, and the average climber traverses between the two points based on the actual route d between two points adjacent to each other and the altitude difference Δh. It is preset so that it does not fall below the minimum required time.

FIG. 8A is a graph showing an example in which the altitude gradually changes between two points A and B adjacent to each other on the mountain trail 14. FIG. 3B is a graph showing an example of a sudden change in altitude between these points A and B.

In this system 10, the time limit f is calculated as the product of the reference time S and the correction coefficient k. FIG. 8 (c) is schematically shown in a graph that the length of the reference time S increases according to the distance d between the two points A and B. In FIG. 3D, it is schematically shown in a graph that the correction coefficient k increases according to the altitude difference Δh between the two points A and B.

<Companion mutual communication function>

In addition to the above-mentioned mountain trail guidance function, this system 10 supports mutual assistance by communicating with each other using each mobile terminal 90 among a plurality of climbers belonging to the same party (team, group, etc.). It has a companion mutual communication function. This companion mutual communication function also functions as a function for confirming the safety of the victim.

In this system 10, when multiple people climb a mountain as one party by the companion mutual communication function (mutual assistance function), if one climber falls into an emergency, information about it is given to other climbers. By sharing information with each other and sharing information with each other on the mobile terminal 90, it is possible to prevent a distress, immediately go to rescue, and even if a distress occurs, it is possible to search immediately.

Specifically, for example, when a plurality of people climb a mountain as one party, it turns out that one of the climbers has fallen into an emergency (for example, the climber's mobile terminal 90 or management server). 50 infers the existence of the emergency), and the climber's mobile terminal 90 or management server 50 automatically sends the emergency situation to each of the other climbers' mobile terminals 90 at the same party all at once. Send information about.

In one example, the mobile terminals 90 of a plurality of climbers belonging to the same party automatically try to establish an interconnection regardless of the presence or absence of a distress or, if necessary (for example, a state in which the user does not notice). However, if there is another mobile terminal 90 whose connection is not established, it is reported to the management server 50. The management server 50 determines that a mountaineer who is a user of another mobile terminal 90 whose connection cannot be established may have fallen into an emergency, and determines that each of the other mountaineers whose connection is established may have entered an emergency. It is transmitted to the mobile terminal 90 all at once.

In another example, if the management server 50 periodically attempts to establish a connection with each mobile terminal 90 and nevertheless does not establish a connection with any of the mobile terminals 90. It is determined that the climber who should own one of the mobile terminals 90 may have fallen into an emergency, and this is transmitted to each of the other climbers' mobile terminals 90 all at once.

Here, as the "emergency situation", for example, the walking route may not be corrected even if the warning is given, or the connection with a certain mobile terminal 90 may not be established. In the latter case, for example, a mountaineer may be out of the communication range, or the battery of the mountaineer's mobile terminal 90 may be insufficient, and in either case, if the mountaineer is in distress, This is a case where it becomes impossible to search for the mountaineer by relying on the mobile terminal 90, and the search may be difficult.

<Distress search function>

In addition to the above-mentioned mountain trail guidance function and companion mutual communication function, this system 10 has a victim search function for searching for a victim in the event that the climber is in distress in the mountainous area 12. This victim search function also functions as a function for confirming the safety of the victim.

In this system 10, a mountaineer transmitter 32 is attached to a mountaineer before climbing in order to realize a victim search function. The mountaineer transmitter 32 moves integrally with the mountaineer who is the wearer, and the position of the mountaineer transmitter 32 coincides with the position of the mountaineer.

In addition, the system 10 comprises a small unmanned aerial vehicle or drone 200 for searching the victims from the air. The drone 200 can use its own controller 202 and can be operated remotely according to an instruction from the management server 50, or can be used for autonomous navigation using the controller 202.

When the management server 50 determines that any of the climbers may have been in distress, the management server 50 determines that the representative spatial coordinate values of the mountainous area 12 on which the climber is climbing (for example, the summit, the entrance of the mountain trail 14, etc.) are specific. The latitude, longitude and altitude of the representative point) are transmitted to the communication device 204 of the drone 200 as information indicating the flight target point, and the drone 200 is instructed to be dispatched (deployed) via the controller 202.

The drone 200 includes a controller 202 and a communication device 204 connected to the controller 202. The communication device 204 is capable of wireless communication with the management server 50. The communication device 204 may function as a normal mobile phone (mobile phone) using the ground base station 300, or may function as a satellite phone using an artificial satellite.

In addition to the communication device 204, the drone 200 is equipped with an aerial mobile (movable) aerial base station (hereinafter referred to as "relay base station") 206 that replaces the fixed ground base station 300 for the mobile terminal 90. is doing. The relay base station 206 receives the position information from the mobile terminal 90 within the communication range of the relay base station 206, and transmits the position information to the ground base station 300 within the communication range of the relay base station 206.

The drone 200 further has a receiver 210 capable of receiving a signal from the victim's climber transmitter 32. The controller 202 measures the intensity of the radio wave received from the mountaineer transmitter 32 by the receiver 210 from moment to moment. The controller 202 navigates the drone 200 in a direction in which the current value of the radio field intensity measurement value increases from the previous value.

In this system 10, in order to search for a mountaineer in distress, a mobile terminal use mode for searching for the victim himself by relying on the mobile terminal 90 of the victim and a mountaineer transmitter 32 of the victim are relied on. There is a transmitter use mode that searches for the victim himself.

First, to briefly explain, in the mobile terminal use mode, a distress is made by using the positioning function and the communication function of the mobile terminal 90 on condition that the connection between the mobile terminal 90 and the management server 50 is established. Performed to search for a person. In this search scenario, the mobile terminal 90 as a piece of equipment for the victim is used directly for the search for the victim.

On the other hand, in the transmitter use mode, the connection between the victim's mobile terminal 90 and the management server 50 is not established, for example, the battery of the mobile terminal 90 is insufficient or the mobile terminal 90 is insufficient. Is located outside the communication range, and is executed to search for a victim by using the location authentication function and the transmission function of the mountaineer transmitter 32.

Specifically, in this transmitter use mode, the drone 200 is dispatched, and the strength of the radio wave received by the receiver 210 mounted on the drone 200 from the mountaineer transmitter 32 of the victim is sequentially measured. The flight route of the drone 200 is determined so that the measured value increases over time. As a result, a search scenario of searching for the victim, or a condition that the victim's mobile terminal 90 operates normally (for example, the battery is not insufficient, the mobile terminal 90 is not broken). , A search scenario in which the mobile terminal 90 is connected to the management server 50 via the relay base station 206 mounted on the drone 200 and further via the nearest ground base station 300. It will be realized.

In the former search scenario, the mountaineer transmitter 32 as one of the equipment of the victim is directly used for the search of the victim by the drone 200. On the other hand, in the latter search scenario, the transmitter use mode is executed in order to enable the above-mentioned mobile terminal use mode.

Specifically, in the latter search scenario, when the drone 200 is dispatched, approaches the victim, and the victim's mobile terminal 90 enters the communication range of the relay base station 206, the relay base station 206 is relayed. The function establishes a connection between the victim's mobile terminal 90 and the ground base station 300, which in turn establishes a connection between the victim's mobile terminal 90 and the management server 50. In this case, the mobile terminal use mode is executed, and the victim can communicate with the management server 50. In this case, for example, the victim can talk to the operator of the telephone of the management center 40 and transmit data (messaging) via his / her mobile terminal 90.

The drone 200 also has a camera 220 that captures the ground as a still image or moving image from the sky. The camera 220 generates image pickup data representing an image on the ground, and the image pickup data is transmitted to the management server 50 via the communication device 204. The operator of the management center 40 can remotely monitor the state of the ground surface of the mountainous area 12 via the camera 220. This allows the operator of the management center 40 to visually and remotely search for the victim. The operating state (on / off, etc.), shooting conditions (zoom rate, exposure, etc.) and posture (angle, etc.) of the camera 40 are remotely controlled by the management server 50 via the controller 202.

The drone 200 further has a speaker 230 that outputs sound from the sky. The speaker 230 is remotely controlled by the management server 50 via the controller 202. For example, the controller 202 drives the speaker 230 based on the voice data received from the management server 50, thereby generating and outputting voice. As a result, the operator of the management center 40 can output voice from the sky toward the mountainous area 12 via the speaker 230.

Thanks to its voice output, the operator of the management center 40 can audibly inform the victim of the current search, the existence of the drone 200 and its current location before the victim is found. In addition, after the victim is found, it is possible to confirm the safety of the victim, give instructions on actions to be taken by the victim for rescue, and provide information on the current state of relief activities.

The drone 200 further has a shooter 240 that drops or drops the necessary items from the sky to a target position on the ground, equipped with a parachute, if necessary. The shooter 240 is remotely controlled by the management server 50 via the controller 202. Items that can be dropped include, for example, relief supplies (for example, a spare charged battery pack that can be used for the victim's mobile terminal 90, water, food, etc.), and relief by locally illuminating the vicinity of the victim. There are lighting equipment to facilitate activities.

When dropping an item from the shooter 240, it is possible to use the speaker 230 to explain the contents of the relief activity by voice or to drop the lighting equipment together in order to draw the attention of the victim. Thanks to the lighting equipment, the victim can accurately grasp the landing point of the dropped item and can reliably capture the item.

<About guide transmitters and climber transmitters>

FIG. 4 is a functional block diagram showing the guide transmitter 30 and the mountaineer transmitter 32 shown in FIG. 2 having a common configuration. Since the guide transmitter 30 and the mountaineer transmitter 32 have a common configuration, the common configuration will be typically described below only for the guide transmitter 30.

As shown in FIG. 4, each guide transmitter 30 transmits a unique signal, and the unique signal represents a unique transmitter ID. Since it is known at which position of the mountain trail 14 each guide transmitter 30 is installed, the installation position, that is, the spatial coordinate value (x, y, z) is assigned to the transmitter ID in advance. ..

First, conceptually, the guide transmitter 30 is a non-contact or contact (proximity) communication device that locally transmits an identification signal capable of identifying a unique transmitter ID.

Next, to explain the operation method, the guide transmitter 30 actively, locally, and permanently uses the unique identification signal without requiring an external trigger signal, as long as the power supply is not insufficient. send.

The guide transmitter 30 is generally known as a beacon device that transmits a beacon signal as an identification signal, a radio beacon, or the like. In one example, the guide transmitter 30 generates an identification signal representing the corresponding transmitter ID by modulating the original signal, and the generated identification signal is used as an IR signal, a Bluetooth (registered trademark) signal, or the like. It is transmitted locally as an NFC (Near Field Communication) signal.

Next, to explain the hardware configuration with reference to FIG. 4, the guide transmitter 30 is mainly composed of a computer 104 having a processor 100 and a memory 102 for storing a plurality of applications executed by the processor 100. ing.

The guide transmitter 30 also has a replaceable disposable battery 106 as a power source. Instead of the battery 106, a rechargeable battery can be adopted, or a commercial power source or a solar cell as an external power source can be adopted.

When a solar cell is used as an external power source, the surplus electric energy generated by the solar cell in the daytime is stored in the battery, and at night, the battery energy is taken out from the battery and the guide transmitter 30 is used. It may be activated.

The guide transmitter 30 further has a transmitter 108 that generates and transmits an identification signal. The transmitting unit 108 is operated by the battery 106 and controlled by the controller 110. The controller 110 is controlled by the computer 100.

To explain the software configuration of the guide transmitter 30, the processor 100 outputs a signal for modulating the original signal (for example, a carrier signal) to the controller 110 so that the transmitter ID is reflected. The controller 110 controls the transmission unit 108, and as a result, the transmission unit 108 generates an identification signal to be transmitted this time. After that, the generated identification signal is transmitted from the transmission unit 108.

<About mobile terminals>

The mobile terminal 90 of a mountaineer (user) is a device carried by the user and having a wireless communication function, for example, a mobile phone, a smartphone, a laptop computer, a tablet computer, a PDA, or the like. Further, the mobile terminal 90 is an example of a user's communication terminal.

Next, to explain the hardware configuration of the mobile terminal 90 with reference to FIG. 5, the mobile terminal 90 is a memory that stores a processor 130 and a plurality of programs (also referred to as “applications”) executed by the processor 130. It is mainly composed of a computer 134 having 132.

The mobile terminal 90 further generates a display unit (for example, a liquid crystal display) 136 for displaying information, a receiving unit 138 for receiving signals from the guide transmitter 30 and the management server 50, and generates a signal to generate the signal. It has a transmission unit 140 for transmitting to the management server 50. Here, the receiving unit 138 is also a part that senses the identification signal from the guide transmitter 30.

The mobile terminal 90 further has an input unit 150 for inputting data or commands from the user. The input unit 150 has, for example, an operation unit that can be operated by a user to input desired information (for example, a command, data, etc.) into the mobile terminal 90. The operation unit includes a touch screen that displays an icon (for example, a virtual button) that can be operated by the user, a physical operation unit that can be operated by the user (for example, a keyboard, keypad, button, etc.), and voice. There are microphones that detect, but they are not limited to these.

The mobile terminal 90 further has a GPS (satellite positioning system) receiver 152. As is well known, the GPS receiver 152 receives a plurality of GPS signals from a plurality of GPS satellites, and based on these GPS signals, the position (latitude, longitude and altitude) of the GPS receiver 152 on the earth is determined. Measure by triangulation.

The mobile terminal 90 also has a built-in acceleration sensor 154 that detects its own acceleration. Since the acceleration sensor 154 is mounted on the mobile terminal 90, it vibrates integrally with the mobile terminal 90, and as a result, the acceleration acting on the acceleration sensor 154 itself is applied to the mobile terminal 90 and the user carrying it. It is detected as equivalent to the acceleration acting on.

Here, to explain one function of the user's mobile terminal 90 in association with the guide transmitter 30, the mobile terminal 90 is a computer of the mobile terminal 90 in a state of receiving an identification signal from the guide transmitter 30. When a program pre-installed in, that is, a dedicated application for guide transmitter processing (hereinafter referred to as "transmitter application") is started (logged in), the received identification signal is demolished and it is Decodes the transmitter ID.

Further, when the mobile terminal 90 starts the transmitter application in a state of receiving the identification signal from the guide transmitter 30, the mobile terminal 90 is based on the received identification signal (for example, the strength of the identification signal). It also measures the distance between the position of the guide transmitter 30 when the identification signal is transmitted and the position of the mobile terminal 90 when the identification signal is received.

That is, the mobile terminal 90 acquires both the transmitter ID unique to the guide transmitter 30 and the distance to the guide transmitter 30 at that time based on the identification signal received from the guide transmitter 30. It has become.

<Receiver range of transmitter>

Apparently, two types of reception areas are assigned to the guide transmitter 30. They are a receivable area and an effective reception area (hereinafter, also referred to as "reception range" or "reception zone").

Each of these areas is generally defined by a single sphere centered on the location of the guide transmitter 30. Some examples of the reception area are shown in FIG.

The receivable area of the guide transmitter 30 has a maximum reception radius (for example, about 50 m), whereas the effective reception area has an effective reception radius (for example, any value within the range of 0 m to about 50 m). Have. While the maximum reception radius is an invariant value, the effective reception radius is a variable value that can be set at any time by the mobile terminal 90, as will be described later.

The receivable area is an area where the identification signal from the guide transmitter 30 can reach when the power supply of the guide transmitter 30 is normal, that is, as long as it exists in the area, the mobile terminal 90 has the identification signal. Means the area where you can receive.

On the other hand, the effective reception area has an effective reception radius smaller than the maximum reception radius of the receivable area. While the maximum reception radius cannot be arbitrarily set, the effective reception radius can be arbitrarily set by software in the mobile terminal 90.

That is, it can be said that the maximum reception radius means the reception limit determined by the hardware, while the effective reception radius means the reception limit determined by the software.

As described above, the mobile terminal 90 measures the distance to the guide transmitter 30 based on the strength of the identification signal received by the mobile terminal 90. The distance measurement may or may not exceed the effective reception radius. When the distance measurement value does not exceed the reception effective radius, it means that the mobile terminal 90 exists in the effective reception area, whereas when the distance measurement value exceeds the reception effective radius, the mobile terminal 90 is present. Is present in the receivable area but not in the effective receivable area.

In the present embodiment, the reception range of the guide transmitter 30 is set to be, for example, a spherical region having a radius of about 0 m to 5 m. That is, the effective reception radius used in the mobile terminal 90 is set to a fixed value within about 0 m-5 m. The reception effective radius may be set so that, for example, the reception area of each guide transmitter 30 covers the entire road width of the portion of the mountain trail 14 where each guide transmitter 30 is installed.

<About the management server>

Next, to explain the hardware configuration of the management server 50, FIG. 9 shows the management server 50 as a functional block diagram. The management server 50 is mainly composed of a computer 164 having a memory 162 for storing a processor 160 and a plurality of applications executed by the processor 160.

The management server 50 further includes a display unit (for example, a liquid crystal display) 166 that displays information, a reception unit 168 that receives a signal from the mobile terminal 90, and generates a signal and transmits the signal to the mobile terminal 90. It has a transmission unit 170 and a clock 172. The management server 50 does not directly receive from the transmitter 30, but substantially via the mobile terminal 90.

<Software configuration of mountain trail guidance system>

In FIG. 10, a plurality of programs for explaining the software configuration of the system 10 are conceptually represented by a flowchart. These programs include a mountain trail guidance application (steps S101-S122) as a program executed on the mobile terminal 90 of each mountaineer, and a program (steps S151-S158) executed on the management server 50.

When the mountain trail guidance application is started on the mobile terminal 90 of each mountain climber prior to climbing the mountain trail 14, first, in step S101, a user operation is performed to request a login to the management server 50 and this time. The personal information of the user who is a mountaineer is input to the mobile terminal 90. The personal information of the climber this time includes, for example, the user ID of the climber, the name and address of the user, the telephone number or e-mail address of each of the other accompanying persons' mobile terminals 90, and the like. The login request and personal information are transmitted to the management server 50, and then received by the management server 50 in step S151.

Next, in step S102, the mountain trail identification information for identifying the current mountain trail 14 (for example, the name or ID of the trail 14 or the name of the mountain trail 12 in which the trail 14 is located or The ID) is input to the mobile terminal 90, the mountain trail identification information is transmitted to the management server 50, and then received by the management server 50 in step S151.

Subsequently, in step S152, the management server 50 registers the received personal information and the mountain trail identification information in the memory 162. After that, the management server 50 uses the mountain trail 14 represented by the mountain trail identification information received from the mobile terminal 90 this time among the plurality of mapping data (see FIG. 7) stored in the memory 162 in step S153. The data corresponding to the above is read from the memory 162 and transmitted to the mobile terminal 90 this time.

In response to this, the mobile terminal 90 downloads the mapping data corresponding to the mountain trail 14 from the management server 50 in step S103. The downloaded mapping data is stored in the memory 132 in association with the mountain trail 14 and the date.

Subsequently, in step S104, the mobile terminal 90 displays a page as shown in FIG. 11A on the screen, and the user should take action on the mountain trail 14 this time on the screen. Enter the data to distinguish whether it is a mountain trail or a mountain trail.

In one typical example, first (for example, at the start point A of the mountain trail 14), as shown in FIG. 11 (a), the user operates a button representing "mountain climbing" and responds to the operation of the mobile terminal 90. In, the above-mentioned mountain trail guidance mode is activated on the condition that it is a mountain climbing and not a descending mountain.

After that, when the user safely arrives at the end point Z of the mountain trail 14 and tries to start descending, the user operates a button indicating "reset" prior to that, as shown in FIG. 11A. Then, the button representing "downhill" is operated. In response to this, the above-mentioned mountain trail guidance mode on the mobile terminal 90 is activated from the first step on the condition that the mountain is descending and not climbing.

Subsequently, the mobile terminal 90 attempts to receive the identification signal from any of the guide transmitters 30 in step S105. After that, in step S106, the mobile terminal 90 determines whether or not the identification signal is effectively received from any of the guide transmitters 30. If the identification signal is not effectively received (effective reception fails), the determination becomes NO, and the process returns to step S105. On the other hand, when the identification signal is effectively received (effective reception is successful), the determination in step S106 is YES.

The mobile terminal 90 effectively received the identification signal from any of the guide transmitters 30 (the one closest to the user's current position among the plurality of guide transmitters 30) (successful effective reception). In this case, subsequently, in step S107, the mobile terminal 90 is a map showing the mountain trail 14 covering the current position on the screen, and the installation position of any of the received guide transmitters 30. And the current position measured using the built-in GPS described above are displayed in an overlay state.

When the mobile terminal 90 is also equipped with a directional sensor, the user holds the mobile terminal 90 horizontally and indicates the direction of the mobile terminal 90 in the direction of the map displayed on the screen and the mobile terminal 90. The directions are adjusted so that they match each other, which makes it possible to visually guide the climber's future direction of travel using the screen.

After that, in step S108, the mobile terminal 90 determines the guide transmitter 30 received this time as the above-mentioned reference transmitter.

Subsequently, the mobile terminal 90 determines in step S109 whether or not it is downhill this time. If it is not downhill but climbing, the determination is NO, and in step S110, the guide transmitter 30 received this time when viewed in the climbing direction of the mountain trail 14 among the plurality of guide transmitters 30. Another guide transmitter 30 located immediately next to the guide transmitter 30 is determined as the target transmitter described above.

Specifically, in the example shown in FIG. 2, when the reference transmitter is the guide transmitter 30 located at the point E (fifth counting from the starting point A), the reference transmitter is the point F (counting from the starting point A). The guide transmitter 30 located at the sixth) is determined as the target transmitter.

On the other hand, this time, if the mountain is not climbing but descending, the determination in step S109 is YES, and in step S111, when viewed in the downward direction of the mountain trail 14 among the plurality of guide transmitters 30. , Another guide transmitter 30 located immediately next to the guide transmitter 30 received this time is determined as the above-mentioned target transmitter.

Specifically, in the example shown in FIG. 2, when the reference transmitter is the guide transmitter 30 located at the point E (fifth counting from the starting point A), the reference transmitter is the point D (counting from the starting point A). The guide transmitter 30 located at the fourth) is determined as the target transmitter.

In either case, the mobile terminal 90 then attempts to receive the identification signal from the current target transmitter in step S112. After that, in step S113, the mobile terminal 90 determines whether or not the identification signal is effectively received from the target transmitter of this time. If the identification signal is not effectively received (effective reception fails), the determination becomes NO, and the process proceeds to step S115.

In step S115, the mobile terminal 90 determines whether or not the elapsed time from the first execution start time of step S112 exceeds the time limit f. If it does not exceed, the determination is YES, and the process returns to step S112.

On the other hand, when the mobile terminal 90 effectively receives the identification signal from the target transmitter (successfully received), the determination in step S113 is YES.

Subsequently, in step S114, the mobile terminal 90 displays a map near the current position, the installed position of the received target transmitter, and the measured current position on the screen in the same manner as in step S107 described above. Display in overlay state. After that, the process returns to step S108, and the target transmitter of this time is determined as the next reference transmitter this time.

On the other hand, if the mobile terminal 90 does not effectively receive the identification signal from the target transmitter even if the elapsed time from the execution start time of step S112 exceeds the time limit f, the determination in step S115 is NO.

After that, the mobile terminal 90 determines in step S116 that the walking state of the climber this time is abnormal. In this abnormality judgment, for example, the climber may not be able to reach the target transmitter this time in the section between the reference transmitter this time and the target transmitter this time, and may be lost. It means a judgment to that effect.

Subsequently, in step S117, the mobile terminal 90 gives a visual warning to the climber this time, as illustrated in FIG. 11B. In one example, the mobile terminal 90 has a message saying "You may have lost your way. It is recommended to turn back the route" and to confirm that the climber has read this message. The confirmation buttons to be operated are displayed in association with each other on the screen.

After that, the mobile terminal 90 measures the current position in step S118 by using the built-in GPS. Subsequently, in step S119, the mobile terminal 90 transmits the position information representing the positioning result to the management server 50 in association with the user ID and the current time.

On the other hand, in step S154, the management server 50 receives the location information from the mobile terminal 90 this time in association with the user ID and the current time, and subsequently, in step S155, the location information is stored in the memory 162 as the user ID and the user ID. Save in association with the current time. As a result, the action history of the climber this time is stored in the memory 162 in chronological order in association with the time, and the information becomes useful information when tracking the climber.

The mobile terminal 90 then determines in step S120 whether or not the confirmation button has been operated by the user, as illustrated in FIG. 11B. If the confirmation button is not operated, the determination is NO, and the mobile terminal 90 determines whether or not the elapsed time from the first execution start time of step S120 exceeds the predetermined time limit g in step S121. Is determined. If it does not exceed, the determination is YES, and the process returns to step S117. When the elapsed time eventually exceeds the time limit g, the determination in step S121 becomes NO.

After that, in step S122, the mobile terminal 90 determines that the climber this time is a victim, and transmits the above-mentioned request for the victim search mode for searching for the victim to the management server 50. Subsequently, in step S123, the mobile terminal 90 sends a message to the effect that "contacting the companion" and a message to the effect that "requesting help", as illustrated in FIG. 11 (c). Display on the screen.

On the other hand, the management server 50 receives the request for the victim search mode from the mobile terminal 90 this time in step S156, and subsequently, in step S157, another climber accompanying the climber this time. Although it is registered in the memory 162, a message for notifying that the climber may have been in distress is transmitted all at once to each mobile terminal 90.

After that, in step S158, the management server 50 dispatches the drone 200 with the current mountain trail 14 as the arrival target point. As described above, the drone 200 searches for the position of the mountaineer by relying on the radio wave received from the mountaineer transmitter 32 mounted on the mountaineer this time. As a result, the above-mentioned distress search function is realized.

As is clear from the above explanation, according to the present embodiment, it is determined whether or not the climber who may be in a psychologically panic state has lost his or her way and whether or not there is a risk of distress. , It is not necessary to select the action content to avoid the distress and to judge whether or not the person was really in distress. As a result, according to the present embodiment, it is possible for a mountaineer to accurately know whether or not he / she has lost his / her way or whether or not he / she is in danger of being distressed before he / she is in distress. In some cases, it is possible to know exactly what to do to avoid a distress.

In the present embodiment, it is possible to consider that the portion of the computer 134 of the mobile terminal 90 that executes steps S105, S106, and S108 in FIG. 10 constitutes an example of the reference transmitter determination unit. It is possible to consider that the portion of the computer 134 of the mobile terminal 90 that executes steps S109 to S111 in the figure constitutes an example of the target transmitter determination unit, and the computer 134 of the mobile terminal 90. It can be considered that the portion for executing steps S115 and S116 in the figure constitutes an example of the walking state determination unit, and step S117 in the figure is executed among the computers 134 of the mobile terminal 90. It is possible to think that the portion constitutes an example of the warning unit.

In addition, in the present embodiment, both the first feature unit functioning as the reference transmitter determination unit and the second feature unit functioning as the target transmitter determination unit function as the walking state determination unit. The three feature parts are also mounted on the computer 134 of the same mobile terminal 90, but instead, the present invention may be implemented in such a manner that all the three feature parts are mounted on the computer 164 of the management server 50. Alternatively, the present invention may be implemented in such a manner that a part of these three feature parts is mounted on the computer 164 of the management server 50.

Further, in the present embodiment, the mobile terminal 90 is from the target transmitter on the premise that the mountaineer does not slide down from the mountain trail 14 (the mountaineer does not deviate laterally from the mountain trail 14). If the signal cannot be received within the time limit f, it is determined that the climber may be lost.

On the other hand, in the present invention, when the mobile terminal 90 cannot receive the signal from the target transmitter within the time limit f, the acceleration sensor 154 of the mobile terminal 90 is used to accelerate the mobile terminal 90, that is, the climber. Acceleration is measured, and if the absolute value of the measured value exceeds a predetermined value, it is determined that the climber may have deviated from the mountain trail 14 and slipped in the vicinity of the reference transmitter. It may be carried out in an embodiment. Here, "the possibility that the climber slipped off the mountain trail 14" is an example of the above-mentioned "abnormal walking condition".

Further, the present embodiment is applied to the use of the present invention as a guide for a mountaineer on a mountain trail 14, but it can be applied to other uses.

For example, the present invention may be used to guide pedestrians on other types of mountain roads, guide pedestrians on forest roads, guide the route of visitors to visits in facilities (eg, factories, museums, museums, public facilities, etc.) or Behavior monitoring (existence of entry prohibited areas, entry into dangerous areas, etc.), directions for customers in stores where multiple products are displayed, and behavior monitoring of students on school routes (presence or absence of deviation from regular school routes) Etc.), may be applied to pedestrian directions on walking paths, bicycle directions on cycling courses, and the like.

Further, in the present embodiment, all or part of the processing executed in the mobile terminal 90 may be executed in the management server 50 instead, or conversely, it is executed in the management server 50. All or part of the processing may be performed on the mobile terminal 90 instead. This is because the device to be executed is usually determined by the circumstances at that time, for example, the amount and type of data handled, the processing speed and storage capacity of each device, and the like. ..

As described above, some of the exemplary embodiments of the present invention have been described in detail with reference to the drawings, but these are examples, and those skilled in the art including the embodiments described in the above [Summary of the invention] column. It is possible to carry out the present invention in other forms with various modifications and improvements based on knowledge.

Claims (5)

A target tracking system that tracks moving targets,
A transmitter attached to the target that emits a unique signal.
The communication terminal used for the target and
A management server that has the function of communicating with the communication terminal,
Including with drones
The drone
A controller that controls the navigation of the drone,
The communication device connected to the controller and
Including a receiver capable of receiving a signal from the transmitter by a short-range wireless communication method.
The management server transmits the spatial coordinate value of the location of the target to the communication device of the drone as information representing the flight target point, whereby the management server sends the space coordinate value to the drone via the controller. Instruct to dispatch,
The drone is equipped with a relay base station for the communication terminal in addition to the communication device, and the relay base station receives position information from the communication terminal within the communication range of the communication terminal, and receives the position information from the communication terminal. Send to the ground base station within the communication range of the relay base station,
The controller enters the transmitter use mode in a state where the connection between the communication terminal and the management server is not established, and the receiver receives radio waves from the transmitter without depending on the management server. Based on the change in strength, the drone is autonomously navigated toward the location of the target, thereby shifting to a connection establishment state in which a connection between the communication terminal and the management server is established.
The management server enters the communication terminal use mode in the connection establishment state, and targets tracking that determines the flight target point based on the position information received from the communication terminal via the relay base station and the ground base station. system. The target tracking system according to claim 1, wherein the target moves at least one of a mountain road, a forest road, a tour passage in a facility, a school road, a walking path, and a cycling course. A program for operating a computer as the communication terminal according to claim 1 or 2. The program for operating a computer as the management server according to claim 1 or 2. A recording medium in which the program according to claim 3 or 4 is recorded so as to be readable by a computer.

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