TWI790644B - Long-distance Personnel Movement Footprint Tracking and Surveillance System - Google Patents

Abstract

A long-distance personnel moving footprint tracking monitoring system, which can be applied to simultaneously track and monitor the moving footprints of one or more specific people in a specific field and the surrounding field reality of each position they pass through at a long distance Map images, such as the moving footprints of firefighters in a building on fire and the surrounding field map images of each floor they pass through, so that when a specific person loses contact or is trapped due to an accident In the case of rescue, it can be used to track and locate the moving footprint and current location of the specific person in the specific field, so that the reinforcement personnel can quickly find and rescue the trapped person.

Description

Long-distance Personnel Movement Footprint Tracking and Surveillance System

The present invention relates to a long-distance tracking and monitoring technology, in particular to a long-distance personnel movement footprint tracking and monitoring system, which can be used to simultaneously track and monitor the movement of one or more specific people in a specific field at a long distance Footprints and the surrounding field real-world map images of each location they pass through, such as the moving footprints of firefighters in a building on fire and the surrounding field real-world map images of each floor they pass through, so as to It can be used to track and locate the current location of the person in the specific field when the person loses contact or is trapped due to an accident and needs rescue, so that reinforcements can quickly find and rescue the person trapped persons.

In the field of fire protection, when a disaster occurs, such as a fire or an earthquake, firefighters will be dispatched to the area where the disaster occurred to carry out firefighting and rescue activities, and venture into buildings that are on fire or collapsed by the earthquake, such as office buildings, Factories, houses, to put out fires or search and rescue trapped victims.

However, after the firefighters enter the building where the fire broke out, they may encounter a problem, that is, the firefighters themselves have an accident and need external rescue, such as being trapped in the fire scene and unable to move, or the fire scene breaks out. Injury or unconsciousness caused by explosion or sudden collapse of building facilities will cause firefighters themselves to be rescued, so the fire commander will need to send a team of reinforcements to search and rescue the trapped firefighters. personnel. However, in this situation, before the fire commander dispatches reinforcements, the first problem to be solved is to know the moving footprints and current location of the trapped firefighters in the fire scene, so that the reinforcements can locate them accordingly and find the trapped firefighters.

In view of the above-mentioned problems, the field of firefighting needs a feasible solution, which can be used to let the fire commander Know and grasp the moving footprints and current location of the trapped firefighters in the fire scene, so that the reinforcement personnel can quickly locate and find the trapped firefighters.

The main purpose of the present invention is to propose a feasible solution to the above-mentioned problems, which can be applied to the field of fire protection, so that the fire commander can track and monitor each firefighter in a building where a fire occurs The mobile footprint and current location of the firefighter can let the fire commander know and grasp the mobile footprint of the trapped firefighters in the fire scene when they lose contact due to an accident or are trapped and need rescue And the current location, so that the reinforcements can quickly locate and find the trapped firefighters.

But broadly speaking, the solution of the present invention is not limited to use in the field of fire protection, that is, it can be widely used to simultaneously track and monitor the moving footprints of one or more specific people in a specific field at a distance, so as to In the event that a person loses contact or is trapped due to an accident and needs rescue, the search and rescue personnel can quickly and locate the person's moving footprints and current location in the specific field, so that the search and rescue personnel can quickly Locate and locate the person.

The basic structure of the long-distance personnel mobile footprint tracking and monitoring system of the present invention includes: an optical radar scanner; a depth camera; a direction sensor; a gyroscope; a field reality map establishment module; a mobile footprint establishment model group; and an information integration module.

In practical application, the present invention is integrated into a portable device and a cloud network server; wherein the portable device can be worn on the body of a firefighter, for example, hung on the chest, installed on the helmet, The waist or legs are used to generate 4 sets of sensing signals during the movement of the firefighter at the fire scene: a set of object distance signals D1 around the field, a set of field depth image signals D2, and a set of field depth image signals D2. A set of acceleration and gravity change signals D3, and a set of angular momentum change signals D4. The four sets of sensing signals can be processed subsequently to create a set of real-world map image files F1 and a set of mobile footprint image files F2, which are then integrated into a set of integrated mobile footprint files F3 for the real-world map. The field reality map mobile footprint integration file F3 is placed on the cloud network server, so that the remote fire commander can use a central monitoring platform to download the field reality map mobile footprint integration from the cloud network server File F3, you can browse the moving footprints of the firefighters on the scene in the building where the fire broke out and the real-world map images of the surrounding field for each position they passed, so that the firefighters can lose contact or die in an accident. In the case of being trapped and requiring rescue, the fire commander can immediately know and grasp the moving footprints and current location of the trapped firefighters in the building where the fire broke out, so that the reinforcements can quickly locate and find the trapped firefighters. firefighters. The present invention thus proposes an effective and feasible solution to the above-mentioned problems.

The technical content and specific embodiments of the remote tracking and monitoring system for people's movements and footprints of the present invention are disclosed in detail below in conjunction with the accompanying drawings.

FIG. 1 shows the basic structure of the long-distance tracking and monitoring system for people's movement and footsteps of the present invention, such as the part included by the dotted square indicated by the reference number 10 . FIG. 2 and FIG. 3 show the practical application of the remote tracking and monitoring system 10 for people's movement and footsteps of the present invention.

As shown in FIG. 2, the present invention can be applied to the field of firefighting, for example, for integrating a portable device 20 and a cloud network server 30; wherein the cloud network server 30 is connected to a network system , such as the Internet 40; and the portable device 20 can be connected to the Internet 40 through a wireless communication method, such as WiFi, hotspot, Bluetooth, or 5G SIM card mobile communication, so that through the Internet 40 Link to cloud web server 30. As shown in FIG. 3 , in practical application, the body-worn device 20 can be worn on the body of a firefighter 50 , for example, hung on the chest or installed on the helmet. After the firefighter 50 enters a building 80 where a fire breaks out, the long-distance personnel movement footprint tracking monitoring system 10 of the present invention can detect and record the movement footprint of the firefighter 50 and every step he passes through. The real-world map image of the surrounding field of the position, and the detection result is sent to the cloud network server 30 through the Internet 40 through a wireless communication method, such as WiFi, hotspot, Bluetooth, 5G SIM card mobile communication, The fire commander 60 at the far-end fire command center can use a central monitoring platform 70, such as a desktop computer, a notebook computer, or a tablet computer, to browse and track in real time the firefighter 50 in the The moving footprints in the building 80 where the fire broke out and the surrounding field reality map images of each location passed by. Assuming that the firefighters 50 themselves have an accident and need rescue, for example, they are trapped in the fire scene and cannot move, or an explosion occurs on the scene or a building facility suddenly collapses and causes injury or unconsciousness, then the remote firefighting The commander 60 can quickly and accurately locate the trapped firefighters 50 based on the previous moving footprints of the trapped firefighters 50 in the building 80 where the fire broke out and the real map image of the surrounding field for each position they passed. The firefighters 50 are located in the building 80 where the fire broke out, so that the reinforcements can quickly search for the trapped firefighters 50 in the building 80 where the fire broke out.

However, it should be noted here that the remote tracking and monitoring system 10 of people's movement and footsteps of the present invention is not limited to be applied in the field of fire protection. In a broad sense, the present invention can be applied to remotely track and monitor the moving footprint of any specific person in a specific field and the surrounding field map image of each position passed by, for When a person needs rescue due to accidental loss of contact or distress, the search and rescue personnel can quickly and accurately locate the person's previous moving footprints and current location in the specific field, so that they can be quickly searched to the missing or distressed person.

The basic structure of the overall structure of the remote tracking and monitoring system 10 for people's movement and footprints of the present invention is disclosed below.

As shown in Figure 1, the basic structure of the remote-type personnel movement footprint tracking monitoring system 10 of the present invention includes: an optical radar scanner 110; a depth camera 120; a direction sensor 130; a gyroscope 140; a field A reality map creation module 210 ; a mobile footprint creation module 220 ; and an information integration module 300 . The individual attributes and functions of these constituent components are firstly described below.

The optical radar scanner 110 is an optical remote sensing device based on LiDAR (Light Detection And Ranging) technology, which can emit a beam of light toward the surrounding environment, such as a pulsed laser beam or an infrared beam, and then receive reflections from objects in the surrounding environment. of light waves. Based on the time difference between emission and reception of the reflected light waves, the optical radar scanner 110 can calculate the distance between the current position of the fire fighter 50 and the surrounding environment objects. Therefore, during the movement of the firefighters 50, the optical radar scanner 110 can generate and output a set of distance signals D1 of surrounding objects in the field to indicate the distance between the current location of the firefighters 50 and the surrounding objects in front, and then further The object distance signal D1 around the field is sent to the field reality map building module 210 for subsequent processing. Since the LiDAR technology is a known technology, this specification will not describe the internal structure of the LiDAR scanner 110 in detail here.

The depth camera 120 can receive and sense the reflected light wave of the light beam emitted by the optical radar scanner 110, and then use Time of Flight (ToF) technology to calculate the distance between the current position of the fire fighter 50 and the surrounding environment. The depth of an object, that is, the distance of the surrounding environment objects relative to the current position of the firefighters 50, thereby generating and outputting a set of field depth image signals D2, and then transmitting the field depth image signals D2 to the field reality map The establishment module 210 performs subsequent processing. Since the time-of-flight (ToF) technology is a known technology, this specification will not describe its technical principle in detail here.

The direction sensor 130 is a kind of acceleration sensor (accelerometer), which can be used to sense the acceleration and gravity changes of the firefighters 50 during their movement, that is, it can sense the forward acceleration at which the firefighters 50 start to move forward, and the direction at which they stop moving forward. Reverse acceleration. In addition, the direction sensor 130 can also sense the change of gravity, that is, the change of gravity caused when the fireman 50 moves up or down, such as when going up and down stairs. If the gravity becomes larger, it means that the fire fighter 50 is currently moving upwards, such as walking up the stairs; otherwise, if the gravity becomes smaller, it means that the fire fighter 50 is currently moving downwards, such as walking down the stairs. Therefore, the detection of the gravity change can be used to display the movement process of the firefighters 50 after entering the building 80 where the fire broke out, whether they go down to the basement or move up to the high floors. During the movement of the firefighters 50 , the direction sensor 130 continuously generates and outputs a set of acceleration and gravity change signals D3 , and then transmits the acceleration and gravity change signals D3 to the moving footprint creation module 220 for subsequent processing.

The gyroscope 140 can be used to sense the turning angle and angular momentum of the turning where the firefighter 50 encounters during the movement of the firefighter 50 , such as turning right 90 degrees or turning left 90 degrees. Therefore, during the movement of the firefighters 50, the gyroscope 140 can generate and output a set of angular momentum change signals D4 when the firefighters 50 turn right or left, and then transmit the angular momentum change signals D4 to The mobile footprint building module 220 performs subsequent processing.

According to the content of each signal, the object distance signal D1 around the field and the field depth image signal D2 are sent to the environment map building module 210 for subsequent processing, and the acceleration and gravity change signal D3 and the angular momentum change signal D4 are sent to the mobile footprint Build module 220 for subsequent processing.

The field reality map building module 210 is used to process the distance signal D1 of objects around the field generated by the optical radar scanner 110 and the field depth image signal D2 generated by the depth camera 120, thereby creating a set of field reality maps. Map image file F1. The real-world map image file F1 can display the real-world map image of the surrounding environment at each position that the firefighters 50 pass through in the moving process by using both 3D stereoscopic and 2D planar methods, and uses time-of-flight ranging Technology (Time of Flight, ToF) to display the depth of each surrounding environment object, that is, the distance relative to the current position of the firefighter 50 . The field reality map image file F1 is then sent to the information integration module 300 for subsequent integration processing.

The mobile footprint building module 220 is used to process the acceleration and gravity change signal D3 output by the direction sensor 130 and the angular momentum change signal D4 output by the gyroscope 140, thereby creating a set of moving footprint image files F2 for displaying firefighting The movement footprint of the person 50 within the building 80 where the fire occurred. If the acceleration changes, it means that the firefighter 50 starts moving forward or stops moving; if the gravity changes, it means that the firefighter 50 is going up and down stairs; if the angular momentum changes, it means that the firefighter 50 is moving to the right or toward Turn left to change direction of movement.

Therefore, combining these parameters obtained from the acceleration and gravity change signal D3 and the angular momentum change signal D4, the moving footprint building module 220 can create a set of moving footprint image files F2, which are used to show the fire fighters 50 in the building where the fire broke out. The moving footprint within 80 includes the moving distance from the starting point P1, the turning direction when encountering a fork, and the direction of going up and down stairs when encountering a staircase. The moving footprint image file F2 is then sent to the information integration module 300 for subsequent integration processing.

The information integration module 300 is used to integrate the field reality map image file F1 created by the field reality map creation module 210 and the mobile footprint image file F2 created by the mobile footprint creation module 220, thereby generating a set of field Domain reality map mobile footprint integration file F3. The field reality map mobile footprint integration file F3 can display the field reality map image of the surrounding environment of each position passed by the firefighters 50 in the moving process in 3D stereo mode and 2D plane mode, and can also display the firefighters The moving path of each floor of the building 80 where the fire broke out, that is, assuming that the fire fighter 50 moves from the first floor to the third floor of the building 80, it can be shown that the fire fighter 50 moves from the first floor to the third floor. A 2D/3D reality map image of the movement path of a floor and its surrounding fields.

The information integration module 300 then installs the field reality map mobile footprint integration file F3 on the cloud network server 30, so that the remote fire commander 60 can use the central monitoring platform 70 to connect to Cloud network server 30, just can download this field reality map mobile footprint integration file F3 to central monitoring platform 70 from cloud network server 30, thereby can browse the field reality on remote central monitoring platform 70 The map moving footprint integration file F3 is used to understand and grasp the moving footprints of the firefighters 50 at the scene in the building 80 where the fire broke out and the real map image of the surrounding field for each position they pass through.

In terms of configuration, the above-mentioned overall components of the present invention can have two different specific implementations. The first embodiment is the configuration method of cloud computing, that is, the optical radar scanner 110, the depth camera 120, the direction sensor 130, and the gyroscope system 140 are arranged on the portable device 20, and the field reality map is established. The module 210 , the mobile footprint creation module 220 , and the information integration module 330 are configured on the cloud network server 30 . The second implementation mode is the configuration method of on-site calculation, that is, all the components of the present invention are all configured on the on-site wearable device 20, so that a set of on-site wearable devices 20 is established The field reality map mobile footprint integration file F3 is uploaded to the cloud network server 30 on the Internet 40 through wireless communication, so as to be provided for downloading to the central monitoring platform 70 . The following examples will assume the first embodiment.

In the following, the usage method and overall operation process of the remote tracking and monitoring system 10 for people's movements and footprints of the present invention will be described in conjunction with the functional flow chart in FIG. 4 .

As shown in Fig. 3, assuming that there is a fire in a building 80, and a fire fighter 50 will enter the building 80 where the fire occurs to perform fire-fighting and rescue tasks, then the fire fighter 50 can wear the long-distance personnel of the present invention. The portable device 20 integrated in the mobile footprint tracking and monitoring system 10 . Fig. 3 only demonstrates that the present invention is applied to a firefighter 50, but in fact if a plurality of firefighters enter a building 80 where a fire breaks out at the same time, each firefighter can be equipped with a portable device 20, It is used to simultaneously track and monitor the moving footprints of each firefighter in the fire scene.

As shown in FIG. 4 , firstly, the firefighters 50 start the remote tracking and monitoring system 10 of people moving footprints of the present invention at the entrance of the building 80 , that is, at the starting point P0 . After starting, the remote type personnel movement footprint tracking monitoring system 10 of the present invention will simultaneously start the optical radar scanner 110, the depth camera 120, the direction sensor 130, and the gyroscope 140, thereby synchronously executing steps S11, S12, S13, S14 operation function.

In step S11 , the optical radar scanner 110 continuously emits a light beam towards the surrounding field where the firefighter 50 is currently located, and then receives light waves reflected from objects in the surrounding field. Based on the time difference between emission and reception of the reflected light waves, the optical radar scanner 110 can calculate the distance between the current location of the firefighters 50 and the surrounding environment objects, and accordingly continuously generate a set of surrounding objects in the field Distance signal D1.

In step S12, the depth camera 120 continuously receives and senses the reflected light wave of the light beam emitted by the optical radar scanner 110, and uses Time of Flight (ToF) to calculate the depth of each surrounding environment object, Thus, a set of depth-of-field image signals D2 is generated.

In step S13, the direction sensor 130 continuously senses the acceleration and gravity changes of the firefighters 50 during their movement, including the forward acceleration when the firefighters 50 start moving forward and the reverse acceleration when they stop moving forward, as well as the gravity changes caused by going up and down stairs. , thus generating a set of acceleration and gravity change signals D3.

In step S14 , the gyroscope 140 senses the change in angular momentum generated by the firefighter 50 turning right or left during the movement, that is, the steering angle, thereby generating a set of angular momentum change signals D4 .

The output signal generated by the above four steps can be uploaded to the cloud network server 30 on the Internet 40 through a wireless communication method, such as WiFi, hotspot, Bluetooth, 5G SIM card mobile communication, and then sent by the cloud The web server 30 is responsible for executing the following steps S21, S22, and S30.

In step S21, the field reality map creation module 210 processes the object distance signal D1 around the field generated by the optical radar scanner 110 and the field depth image signal D2 generated by the depth camera 120, so as to establish a set of field reality maps. Environment map image file F1. The field reality map image file F1 can display the surrounding field reality map images of each position passed by the firefighters 50 in a 3D stereoscopic manner and a 2D planar manner, and utilize the time of flight ranging technology (Time of Flight) Flight, ToF) to display the depth of each surrounding environment object, that is, the distance relative to the current position of the firefighter 50 .

In step S22, the moving footprint building module 220 processes the acceleration and gravity change signal D3 generated by the direction sensor 130 and the angular momentum change signal D4 generated by the gyroscope 140, thereby creating a moving footprint image file F2 for displaying firefighting The moving footprint of the person 50 in the building 80 where the fire broke out includes the straight forward moving distance from the starting point P0, the turning direction when encountering a fork, and the up and down direction when encountering a staircase.

In step S30, the information integration module 300 integrates the field reality map image file F1 created by the field reality map creation module 210 and the movement footprint image file F2 created by the movement footprint creation module 220, thereby generating a set of Field reality map mobile footprint integration file F3. The field reality map mobile footprint integration file F3 is then placed on the cloud network server 30 to provide remote downloading.

In step S40, the remote fire commander 60 connects the central monitoring platform 70 to the cloud network server 30 on the Internet 40, and then downloads the real-world map of the field from the cloud network server 30. File F3, so that its content can be displayed and browsed on the central monitoring platform 70, so that it is possible to track and grasp in real time the moving footprints of the fire fighters 50 at the scene end in the building 80 where the fire broke out and the surroundings of each position they pass through Field reality map image.

Assuming that the firefighters 50 themselves have an accident and need rescue, for example, they are also trapped in the fire scene and cannot move, or there is an explosion on the scene or the sudden collapse of the building facilities, resulting in injury or coma, then the remote fire command The officer 60 can understand and master the previous moving footprints of the trapped firefighters 50 in the building 80 where the fire broke out according to the downloaded field reality map moving footprint integration file F3, and at the same time grasp the previous moving footprints of the firefighters 50 The real-world map image of the surrounding field for each position can be used to instruct reinforcement personnel to quickly locate and search for the trapped firefighters 50 following the previous moving footprints of the trapped firefighters 50 .

In the application example in Figure 3, when the reinforcement personnel walk from the starting position P0 to the position P1, they will encounter a fork in the road, and they can know the trapped firefighters 50 from the display content of the field reality map moving footprint integration file F3 It is to go straight forward; then go to the position P2 and will encounter another fork, and you can know that the trapped firefighters 50 turned right before; then go to the position P3 and will encounter another fork, you can It is known that the trapped firefighters 50 turned right before; following this, the trapped firefighters 50 can be found at the position P4 at last.

In summary, the present invention aims at a problem that firefighters may encounter when performing firefighting tasks, that is, the problem that firefighters themselves need rescue due to accidents, loss of contact or distress and distress. and possible solutions.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the substantive technical content of the present invention. The broadest and most general concepts of the present invention are defined in the following claims. If any product or technical method completed by others is exactly the same as defined in the scope of the patent application below, or is an equivalent change, it will be deemed to be covered by the patent scope of the present invention.

10: the remote type personnel mobile footprint tracking monitoring system of the present invention 20: Portable wearable device 30:Cloud web server 40:Internet 50: firefighters 60: Fire Commander 70:Central monitoring platform 80: Buildings on fire 110: Optical Radar Scanner (LiDAR) 120: Depth camera 130: Direction sensor (accelerometer) 140: Gyroscope 210: Field Reality Map Building Module 220:Mobile footprint building module 300:Information integration module D1: Distance signal of objects around the field D2: field depth image signal D3: Acceleration and gravity change signal D4: Angular momentum change signal F1: Real-world map image file F2: Mobile footprint image file F3: Field reality map mobile footprint integration file

Fig. 1 is a schematic diagram of a system architecture, which is used to show the basic architecture of the overall structure of the remote type personnel movement footprint tracking monitoring system of the present invention; Fig. 2 is a schematic diagram of an application architecture, which is used to show the application architecture in which the remote tracking and monitoring system of people's movement and footprints of the present invention is integrated into a portable device and a cloud network server; Fig. 3 is a schematic diagram of an application, which is used to illustrate an application example of the remote-type personnel movement footprint tracking monitoring system of the present invention; FIG. 4 is a functional flow chart for showing the functional flow of the remote tracking and monitoring system for people's movement and footprints of the present invention during actual operation.

10: the remote type personnel mobile footprint tracking monitoring system of the present invention 110: Optical Radar Scanner (LiDAR) 120: Depth camera 130: Direction sensor (accelerometer) 140: Gyroscope 210: Field Reality Map Building Module 220:Mobile footprint building module 300:Information integration module D1: Distance signal of objects around the field D2: field depth image signal D3: Acceleration and gravity change signal D4: Angular momentum change signal F1: Real-world map image file F2: Mobile footprint image file F3: Field reality map mobile footprint integration file

Claims (6)

A long-distance personnel movement footprint tracking monitoring system can be applied to simultaneously track and monitor the movement footprints of one or more specific people in a specific field at a distance, so as to track and locate the specific person in the specific field Current location; this long-distance personnel movement footprint tracking monitoring system at least includes: an optical radar scanner, which can emit a light beam to scan the surrounding environment objects in the specific field, so as to generate and output a set of surrounding objects in the field A distance signal, which is used to indicate the distance between the current location of the specific person relative to the surrounding environment objects in the specific field; a depth camera, which can be used to capture the current location of the specific person in the specific field The image of the surrounding environment is used to generate and output a set of field depth image signals; a direction sensor can sense the acceleration and gravity changes caused by the movement of the specific person in the specific field, so as to generate and output a set of field depth image signals. Acceleration and gravity change signals; a gyroscope, which can sense the angular momentum change caused by changing the direction of travel of the specific person in the specific field during the movement process, so as to generate and output a set of angular momentum change signals; a field A reality map building module, which can process the distance signals of objects around the field output by the optical radar scanner and the field depth image signals output by the depth camera, so as to create a set of field reality map image files; A mobile footprint creation module, which can process the acceleration and gravity change signals output by the direction sensor and the angular momentum change signal output by the gyroscope, so as to create a set of mobile footprint image files; and an information integration module, which The field real map image file created by the field real map creation module and the mobile footprint image file created by the mobile footprint creation module can be integrated to generate a set of field real map mobile footprint integration files, The surrounding field reality map image used to show the moving footprint of the specific person in the specific field and each location passed by; Wherein, the mobile footprint integration file of the field reality map is placed on a cloud network server, so that a remote central monitoring platform can download and browse the field reality map mobile footprint integration file through the Internet content. The long-distance personnel movement and footprint tracking monitoring system as described in claim 1 adopts a cloud computing configuration method, and the optical radar scanner, the depth camera, the direction sensor, and the gyroscope are configured on the A portable wearable device, and the portable wearable device is connected to the cloud network server through a wireless communication method; and the field real-world map creation module, the mobile footprint creation module, and the information integration The modules are configured on the cloud web server. In the long-distance tracking and monitoring system for personnel movement and footprints as described in claim 2, the types of the wireless communication methods include: WiFi, hotspot, Bluetooth, and 5G SIM card mobile communication. The long-distance tracking and monitoring system for people moving footprints as described in Claim 1, wherein the optical radar scanner is a LiDAR type optical radar scanner. The long-distance tracking and monitoring system for people moving footprints as described in Claim 1, wherein the beams emitted by the optical radar scanner include pulsed laser beams and infrared beams. The long-distance personnel movement footprint tracking and monitoring system as described in claim 1, wherein the field reality map movement footprint integration file uses both 3D stereoscopic and 2D planar methods to display the specific person in the specific field The mobile footprint and the surrounding field reality map image of each location it passes through.

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