Tracking system, and construction machine attachment status detection system, victim search system, and immovable object status detection system using the tracking system

Abstract

To provide a tracking system and a method for managing data transmission without omission by retrying transmission and reception of data that has failed in data transmission and reception, continuing temporary storage of untransmitted data, and accumulating new data.SOLUTION: A tracking system 100 that autonomously measures a change in at least one of the position, attitude, and moving speed of a tracking target and autonomously communicates the change to an external system includes a GPS module 110 that acquires position data of the tracking target, a sensor module 120 that measures changes that have occurred in the tracking target, a central control device 130, a memory device 140, a specific communication device 150, GPS data temporary storage means 131 that stores the measurement results in the memory device, and sensor data temporary storage means 132. The specific communication device includes communication control means 152 that performs data communication with an external system 300 via an external specific communication antenna 310 on the basis of the LPWA communication standard.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a tracking system that autonomously measures changes in at least one of the position, orientation, and moving speed of a tracked object, and autonomously communicates the changes to an external system. Examples of applications include systems for detecting the status of construction machinery attachments, which are moving and replaceable parts of construction machinery; systems for detecting the status of agricultural machinery; systems for searching for missing persons; and systems for detecting the status of immovable objects such as rocks and piles of soil. [Background technology]

[0002] In recent years, data communication is not limited to data communication between computers. IoT (Internet of Things) is a technology that is spreading, in which various objects are equipped with communication modules and data is transmitted to the control system side via a network. LPWA communication (Low Power Wide Area data transmission) is attracting attention as a communication method. As shown in Figure 8, there are various communication standards, but general communication standards between computers and mobile phone network standards (e.g., Wi-Fi, 3G, 4G, 5G) aim for high-speed communication and are excessive specifications for IoT. LPWA aims to reduce costs by keeping specifications relatively low for IoT. Although the transmission speed of LPWA is very slow compared to wired LAN and wireless LAN, LPWA has many advantages. For example, it can transmit over a wide area, has a narrow frequency band, and consumes very little power. It is said to be suitable for sensor networks that transmit small data capacity intermittently multiple times.

[0003] There are two types of communication standards based on LPWA: those that use frequency bands that do not require licenses (unlicensed bands) and those that use frequency bands that require licenses (licensed bands). Examples of the former include Sigfox (sub-GHz frequency band, maximum communication speed of 100 bps, communication distance of several tens of km), LoRaWAN (sub-GHz frequency band, maximum communication speed of 250 kbps, communication distance of approximately 10 km), ELTRES, and ZETA. Examples of the latter include LTE-M and NB-IoT. In particular, Sigfox has been attracting attention in recent years. Sigfox is a communication method developed by the French company UnaBiz SAS, and although it is a low-speed communication standard with a maximum communication speed of about 100 bps, it can communicate over long distances of several tens of kilometers, and is attracting attention as a communication method suitable for global IoT networks due to its low cost and low power consumption. Known examples include a construction machinery work management system disclosed in Patent Document 1 (JP Patent Publication No. 2023-61535) shown in FIG. 9 and a wireless communication terminal disclosed in Patent Document 2 (JP Patent Publication No. 2009-44309) shown in FIG.

[0004] [Patent Document 1] JP 2020-136985 A [Patent Document 2] JP 2009-044309 A DISCLOSURE OF THEINVENTION [Problem to be solved by the invention]

[0005] The above-mentioned LPWA-based communication standards in the conventional technology are suitable for IoT devices. However, while they are basically excellent for use with fixed objects, they are not suitable for use with objects that may move at relatively high speeds. The first problem is that it is difficult for conventional LPWA technology to retry data that has failed to be transmitted or received. As mentioned above, even small amounts of data can fail to be transmitted or received with LPWA. In order to reduce data transmission failures, the general solution requires high specifications, but those who build and operate LPWA systems have placed emphasis on reducing costs and have not taken measures to increase specifications, and have continued to operate with missing data even if several data transmissions fail during intermittent data transmissions.

[0006] The second problem is that the conventional LPWA technology takes a long time to send and receive even a small amount of data, which can lead to a high error rate on the receiving side. The communication standard based on the above-mentioned LPWA has a slow communication speed, and it takes a long time to send and receive one data transmission. For example, in the case of Sigfox, it takes about 7 to 8 seconds. Therefore, there was a problem that the reception error rate on the receiving side increases when the moving speed of a moving object is fast.

[0007] The third problem is that the conventional LPWA technology is vulnerable to frequency shifts caused by Doppler shifts because it is a narrowband wireless communication. The communication standard based on the above LPWA is a narrowband wireless communication. For example, in the case of Sigfox, the communication frequency is in the sub-GHz band and is a narrow band. Therefore, if the moving speed of a moving object is fast, frequency shifts due to Doppler shifts may occur in the communication, which may cause communication to be interrupted.

[0008] On the other hand, communication standards based on LPWA have a variety of possibilities and potential. The present inventors have discovered that in an LPWA-based communication module, by taking measures at low cost, it is possible to realize retry of data that has failed in data transmission / reception. Furthermore, the inventors have discovered that by incorporating various sensor modules, the technology can be applied to objects in specific environments or conditions, such as objects that move but then follow a repeating routine of returning to a fixed position, or objects (objects, human bodies) that move relatively slowly. The technology can also be applied to detecting the movement of objects that would not normally move, and to searching for mountain climbers or people lost at sea.

[0009] The present invention has been made in consideration of the above circumstances, and aims to provide a communication device and a communication method that enable retrying data transmission and reception that has failed in an LPWA-based communication module, and that can be applied to objects in specific environments or conditions and incorporated into applications that handle those objects. [Means for solving the problem]

[0010] In order to achieve the above object, a tracking system of the present invention is a tracking system that autonomously measures at least one change in a position, attitude, or moving speed of a tracking target and autonomously communicates the change to an external system, and includes a GPS module that acquires position data of the tracking target at a first predetermined time interval, a sensor module that measures at least one change in acceleration data, magnetic change data, illuminance change data, temperature change data, or time data of the tracking target at a second predetermined time interval, a central control unit, a memory device, and a specific communication device, wherein the GPS module includes GPS data temporary storage means that writes the measurement results of the position data of the tracking target obtained at the first predetermined time interval into the memory device, and the sensor module includes sensor data temporary storage means that writes any one of the sensor data of the tracking target obtained at the second predetermined time interval into the memory device, and the specific communication module includes a Low Power Wideband (LWW) sensor data storage means that stores ... The tracking system is characterized by comprising a communication module based on the Area communication standard, and a communication control means for transmitting the GPS data and the sensor data temporarily stored in the memory device to the external system via the external specific communication antenna at a third predetermined time interval if the tracking system is within a communication area of ​​the external specific communication antenna. An example of the specific communication module described above may be a communication device for a Low Power Wide Area Network that enables low-power, long-distance wireless communication.

[0011] With the above configuration, with a simple device configuration consisting of an LPWA communication module, a GPS module, a sensor module, a central control device, a memory device, a GPS data temporary storage means, a sensor data temporary storage means, and a communication control means, it is possible to retry sending and receiving data that has failed to be sent or received. Furthermore, by using various sensors and the data sending and receiving retry function, it is possible to apply the configuration to objects in specific environments or conditions, or to incorporate the configuration into applications that handle those objects.

[0012] Next, in the above configuration, if the specific communication device is unable to perform data communication via the external specific communication antenna after a third specified time interval has elapsed, it is preferable to continue temporarily storing the untransmitted GPS data and the sensor data written in the memory device in the memory device, and, after the next third specified time interval has elapsed, to perform data communication of the untransmitted GPS data and the sensor data and the GPS data and the sensor data newly written until the next third specified time interval. Since a state in which data transmission / reception using the LPWA communications module is not possible may continue for some time, it is preferable to retry data transmission / reception multiple times at predetermined intervals.

[0013] Next, in order to ensure retry of the above-mentioned data transmission and reception, it is preferable that the GPS module or the central control device assigns a GPS data serial number to the GPS data for each of the first predetermined time intervals required for measurement and writes the GPS data to the memory device, and that the sensor module or the central control device assigns a sensor data serial number to the sensor data for each of the second predetermined time intervals required for measurement and writes the sensor data to the memory device, and that when performing the data communication by the specific communication means, the GPS data with the GPS data serial number and the sensor data with the sensor data serial number are transmitted. With the above configuration, new data is accumulated while still temporarily storing data that has not yet been transmitted, making it easier to manage data transmission without missing any data.

[0014] For example, in the process of retrying data transmission / reception, it is preferable that the specific communication device or the central control device accepts a retransmission request for data specifying the GPS data serial number or the sensor data serial number from the external system via the external specific communication antenna, and retransmits the GPS data with the GPS data serial number specified in the retransmission request, and the sensor data with the specified sensor data serial number. With the above configuration, an external center with relatively ample computer resources can use the GPS data serial number and the sensor data serial number as clues to determine which data has been received and which data has not been received, and can specify the data that has not been received and request a resend of that data, thereby making data transmission and reception between the tracking system and the external center more efficient.

[0015] Next, there are a number of possible applications to which the tracking system of the present invention can be applied. For example, there is a construction machinery attachment status detection system in which the tracking object is a construction machinery attachment, which is a moving part and a replaceable part of a construction machinery, the sensor module is capable of measuring the acceleration data and the time data generated in the tracking object, and an external system that receives data communication of the sensor data can detect the time when the construction machinery attachment is in use and the time when it is not in use.

[0016] In addition, for example, there is an agricultural machinery status detection system in which the tracking target is agricultural machinery, the sensor module is capable of measuring the acceleration data and the time data generated in the tracking target, and an external system that receives the sensor data can detect the position of the agricultural machinery, the time it is in use, and the time it is not in use.

[0017] In addition, for example, there is a missing person search system in which the target to be tracked is a human climber or sailor on an ocean vessel, the human is wearing a tracking system according to the present invention, and an external system that receives the GPS data can detect the position of the target to be tracked. In this victim search system, the external specific communication antenna may be mounted on a drone capable of flight. When the victim is within a communication area of ​​the specific communication antenna mounted on the drone, the specific communication means can obtain information regarding the location of the victim through data communication from a tracking system worn by the victim.

[0018] In addition, for example, there is an immovable object status detection system in which the tracked object is a rock, embankment, forest, road, bridge, or tunnel, which is usually an immovable object, a tracking system according to the present invention is attached to the immovable object, and the sensor module is capable of measuring at least the acceleration data generated in the tracked object, and an external system that receives data communication of the GPS data and the sensor data can detect the movement or signs of movement of the immovable object. Effect of the Invention

[0019] According to the tracking system of the present invention, a simple device configuration including an LPWA communication module, a GPS module, a sensor module, a central control device, a memory device, a GPS data temporary storage means, a sensor data temporary storage means, and a communication control means can retry data transmission that has failed. While continuing to temporarily store unsent data, new data can be accumulated and managed to ensure that no data transmission is missed. Using various sensors and retry functions for sending and receiving data, it can be applied to objects in specific environments or conditions, and can be incorporated into applications that handle those objects. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a tracking system 100 according to the present invention. [Diagram 2] 11 is a flowchart showing a normal procedure routine. [Diagram 3] 13 is a flowchart showing the flow of a process for making a request for resending data, including a serial number, to the tracking system 100 for resending the data. [Figure 4] 13 is a flowchart showing a process flow when an operation in which ACK / NCK is exchanged between the tracking system 100 and the external system 300 is assumed. [Diagram 5] FIG. 4 is a simplified diagram showing a condition detection system 400a for a construction machine attachment. [Figure 6] FIG. 4 is a diagram showing a simple configuration of a lost person search system 400c. [Figure 7] FIG. 4 is a diagram for briefly explaining the configuration of an immobile state detection system 400d. [Figure 8] FIG. 1 is a diagram for explaining various communication standards from an overview perspective. [Figure 9] FIG. 1 is a diagram showing a construction machine work management system disclosed in a conventional Patent Document 1 (JP Patent Publication No. 2023-61535). [Figure 10] FIG. 1 is a diagram showing a conventional wireless communication terminal disclosed in Patent Document 2 (JP Patent Publication No. 2009-44309). BEST MODE FOR CARRYING OUT THEINVENTION

[0021] Hereinafter, with reference to the drawings, an embodiment of the tracking system of the present invention and various systems to which the tracking system is applied will be described. However, it goes without saying that the scope of the present invention is not limited to the specific applications, shapes, numbers, etc. shown in the following embodiments. Example 1

[0022] 1 shows an example of a tracking system 100 according to a first embodiment of the present invention. The tracking system 100 of the present invention autonomously measures at least one change in the position, orientation, and / or moving speed of a tracked object, and autonomously communicates the change to an external system. 1 is a diagram showing a schematic configuration example of a tracking system 100 of the present invention. The internal configuration of the tracking system 100 is shown as a schematic block, and electrical circuits and detailed components are omitted. It is assumed that the tracking system 100 is formed on a substrate, and the substrate is housed in a housing together with a battery, but a description thereof will be omitted here.

[0023] As shown in Fig. 1, in the configuration example of the present embodiment 1, the tracking system 100 is configured to include a GPS module 110, a sensor module 120, a central control device 130, a memory device 140, and a specific communication device 150. Fig. 1 also illustrates a tracked object 200, an external system 300, and an external specific communication antenna 310.

[0024] The GPS module 110 is a module that acquires position data of the tracked object 200 at a first predetermined time interval. GPS is a global positioning system that uses signals received from several GPS satellites in the sky to determine the current location, and GPS module 110 is a module equipped with the function of receiving signals from these GPS satellites. In recent years, GPS module 110 that receives signals from GPS satellites has become smaller and smaller, to about a few centimeters in size. The GPS module 110 outputs the measurement results of the position data of the tracked object obtained at a first predetermined time interval to the central control unit 130, which is equipped with a GPS data temporary storage means 131, and the GPS data temporary storage means 131 writes the GPS data to the memory device 140. The first predetermined time interval is not limited, but can be freely set to, for example, several minutes, several hours, etc. In this case, if it is set to, for example, 20 minutes, the routine is to write the location information acquired by the GPS module 110 to the memory device 140 by the GPS data temporary storage means 131 once every 20 minutes.

[0025] The sensor module 120 measures data of a sensing object occurring in the tracked object 200 at a second predetermined time interval. The sensing data may include, for example, acceleration data, magnetic change data, illuminance change data, temperature change data, and time data.

[0026] Sensors that sense acceleration data are provided as so-called gyro sensors, and in recent years, these gyro sensors have become increasingly miniaturized, reaching a size of approximately a few centimeters.

[0027] Sensors that sense magnetic change data are provided as magnetic sensors, and generally convert the magnitude and amount of change of a magnetic field into an electrical signal. Magnetic sensors include coils, reed switches, Hall elements, MR sensor elements, and superconducting quantum interference elements. In recent years, magnetic sensors have also become smaller, ranging in size from a few millimeters to a few centimeters.

[0028] The sensor that senses the illuminance change data is provided as a so-called illuminance sensor, which is a sensor that detects the surrounding brightness. It has a structure in which a photodiode and a transistor are integrated, and converts the light incident on the light receiving element into an electric current to detect the brightness. The illuminance sensor has optical characteristics close to the visual sensitivity of humans, and can capture changes in the light environment at the sensor location, and can detect, for example, whether the tracked target 200 is exposed to sunlight outdoors or hidden in the shade indoors.

[0029] Sensors that sense temperature change data are provided as so-called temperature sensors, and are sensors that sense the surrounding temperature. There are contact and non-contact types, but this is not limited to this invention, and either type can be installed depending on the purpose and application. There are temperature sensors that use the temperature characteristics of transistors and diodes, thermistor type temperature sensors that use the resistance-temperature characteristics of semiconductors, temperature sensors that use the thermoelectromotive force (Seebeck effect) generated in thermocouples, and radiation temperature sensors used in thermography, etc., which output the temperature change of a sensor element that receives infrared rays as an electrical signal by resistance change, thermoelectromotive force, pyroelectric effect, etc. In recent years, temperature sensors have become increasingly miniaturized, measuring just a few centimeters.

[0030] The time data can be obtained by a so-called timer, and in recent years, such timers have become smaller and smaller, and are even integrated into chips.

[0031] The sensor module 120 outputs sensor data, such as acceleration data, magnetic change data, illuminance change data, temperature change data, and / or time data, obtained as a result of sensing the tracked object 200 at a second predetermined time interval, to the central control unit 130, which is equipped with a sensor data temporary storage means 132, and the sensor data temporary storage means 132 writes the sensor data to the memory device 140.

[0032] The second predetermined time interval at which the sensor module 120 executes sensing can be freely set, for example, several minutes, several hours, etc., but is not limited to this. In this case, if the second predetermined time interval is set to 20 minutes, for example, the sensor data acquired by the sensor module 120 is written to the memory device 140 by the sensor data temporary storage means 132 once every 20 minutes. In this example, the first predetermined time interval, which is the interval at which the position data is acquired from the GPS module 110 and written to the memory device 140 by the GPS data temporary storage means 131, is the same as the second predetermined time interval, which is the interval at which the sensor data sensed by the sensor module 120 is acquired and written to the memory device 140 by the sensor data temporary storage means 132, but they may be the same time interval or different time intervals. Here, they are assumed to be the same time interval.

[0033] The central control unit 130 is a microprocessor-based controller IC, and may be a CPU installed in a general personal computer, but the CPU of a general personal computer is overkill, so the central control unit 130 installed in the tracking system 100 of the present invention may be a low-spec one with a slow processing speed and limited processing power. It is better to make it as small as possible, and it is preferable to make it into a chip of about several centimeters. In this configuration example, the central control device 130 is provided with a GPS data temporary storage means 131 and a sensor data temporary storage means 132. The GPS data temporary storage means 131 writes into the memory device 140 the measurement results of the position data of the tracking target obtained at a first predetermined time interval. The sensor data temporary storage means 132 writes into the memory device 140 the measurement results of the sensor data obtained by sensing the tracked target at a second predetermined time interval. The GPS data temporary storage means 131 and the sensor data temporary storage means 132 may be provided as a program that causes the central control device 130 to function as such, and may be stored in an internal memory or an external memory device 140.

[0034] The memory device 140 may be a general-purpose memory device, and the memory capacity may be small. Although an internal memory built into the central control device 130 may be used, in this configuration example, an external memory is installed in order to ensure a certain amount of capacity.

[0035] The specific communication device 150 includes a specific communication module 151 and a communication control means 152 . The communication module 151 is a communication module capable of transmitting and receiving data in accordance with the Low Power Wide Area (LPWA) communication standard. There are several types of LPWA communication standards, such as Sigfox, LoRaWAN, ELTRES, ZETA, LTE-M, and NB-IoT. The present invention is not limited to any of these, but here we will use, for example, a communication module 151 that uses Sigfox. In other words, in this example, the communication module 151 of the specific communication device 150 complies with the Sigfox communication standard, and the communication capability of the tracking system 100 utilizes the sub-GHz communication frequency band, has a maximum communication speed of 100 bps, and has a communication area of ​​several tens of kilometers.

[0036] The communication control means 152 of the specific communication device 150, when within the communication area of ​​the external specific communication antenna 310, transmits data communication of the GPS data and sensor data temporarily stored in the memory device 140 to the external system 300 via the external specific communication antenna 310 at a third predetermined time interval.

[0037] The third predetermined time interval at which the specific communication device 150 executes data communication of the GPS data and sensor data temporarily stored in the memory device 140 to the external system 300 is not limited, and can be freely set to, for example, several minutes or several hours. Here, for example, it is set to 20 minutes. In other words, it is a routine to communicate the GPS data and sensor data written in the memory device 140 to the external system 300 once every 20 minutes. In this example, the third predetermined time interval at which the specific communication device 150 executes data communication of the GPS data and sensor data temporarily stored in the memory device 140 is the same as the first predetermined time interval at which the GPS module acquires position data and writes it to the memory device 140, and the second predetermined time interval at which the sensor module 120 acquires sensed sensor data and writes it to the memory device 140, but they may be the same time interval or different time intervals. Here, they are assumed to be the same time interval. The above is an explanation of the configuration of the tracking system 100.

[0038] Next, the external system 300 and the external specific communication antenna 310 will be described. The external specific communication antenna 310 is an antenna capable of transmitting and receiving data at a specific frequency with the communication module 151 of the specific communication device 150. Here, for example, if the communication module 151 complies with the Sigfox communication standard, the external specific communication antenna 310 may be an antenna capable of catching Sigfox communication (communication frequency sub-GHz band). The external specific communication antenna 310 may be fixed to a land or a building, or may be mounted on a mobile object. The external system 300 may be capable of communicating via an external specific communication antenna 310, and may be capable of receiving data transfer from a center side or relay system assumed in the Sigfox communication standard. Note that the external system 300 may be capable of relaying transmitted and received data between a plurality of external specific communication antennas 310 from the external specific communication antenna 310 to the Sigfox center system or relay system.

[0039] The basic flow of data communication of GPS data and sensor data obtained from the tracked object 200 using the tracking system 100 of the present invention will be described below. In actual operation, there are various variations depending on the difference in the tracking target 200 and the difference in operation, but these will be explained in the second embodiment and onwards, and here, the basic flow will be explained.

[0040] As a preparation, the tracking system 100 of the present invention is attached to the tracked object 200. Depending on the type of tracking target 200, it may be attached to the tracking target 200, wrapped around the tracking target 200, mounted inside the housing of the tracking target 200, or stored in the clothing or life jacket of the human body that is the tracking target 200. It is preferable to ensure sufficient capacity for batteries and cells. The normal procedure basically involves repeating normal procedure 1 to normal procedure 11 shown in FIG.

[0041] The first and second predetermined time intervals may be different or the same. The third predetermined time interval is a common multiple of the first and second predetermined time intervals. In other words, if the first, second, and third predetermined time intervals are 15, 10, and 30 minutes, respectively, then two GPS data sets are stored in the memory device 140 and three sensor data sets are stored in the memory device 140 during the 30 minutes. The two GPS data sets and three sensor data sets are transmitted from the memory device 140 by the specific communication device 150 once every 30 minutes. In the flowchart of Figure 2, normal procedures 1 to 5 for the GPS module 110, which are repeated at a first predetermined time interval (e.g., 15 minutes), and normal procedures 6 to 10 for the sensor module 120, which are repeated at a second predetermined time interval (e.g., 10 minutes), are independent of each other, and normal procedure 11 is executed after a third predetermined time interval (e.g., 30 minutes).

[0042] [Normal procedure 0:S0] After the most recent normal step 11 is completed, the time elapsed is reset to zero.

[0043] [Normal procedure 1: S1] At a first predetermined time interval (eg, 15 minutes), the GPS module 110 acquires position data of the tracked object 200 .

[0044] [Normal procedure 2: S2] The GPS module 110 outputs the position data of the tracked object 200 acquired in step 1 to the central control device 130 .

[0045] [Normal procedure 3: S3] The GPS data temporary storage means 131 writes the position data into the memory device 140 for temporary storage.

[0046] [Normal procedure 4: S4] The central control device 130 counts whether the first predetermined time has elapsed, and if the first predetermined time has not elapsed (step S4: N), it waits, and if the first predetermined time has elapsed (step S4: Y), it proceeds to normal procedure 5.

[0047] [Normal procedure 5: S5] The central control device 130 counts whether a third predetermined time (e.g., 30 minutes) has elapsed, and if the third predetermined time has not elapsed (step S5: N), returns to normal procedure 1 and executes acquisition of the next GPS data, and if the third predetermined time has elapsed (step S5: Y), proceeds to normal procedure 11.

[0048] [Normal procedure 6: S6] At a second predetermined time interval (e.g., 10 minutes), the sensor module 120 measures changes occurring in the tracked object 200. The sensing data may include acceleration data, magnetic change data, illuminance change data, temperature change data, time data, etc. Depending on the operation, any one type of data may be acquired alone, or multiple types of data may be acquired in combination.

[0049] [Normal procedure 7: S7] The sensor module 120 outputs the sensing data of the tracked object 200 acquired in step 3 to the central control device 130 .

[0050] [Normal procedure 8: S8] The sensor data temporary storage means 132 of the central control device 130 writes the sensing data relating to the tracked object 200 acquired in step 7 into the memory device 140 and temporarily stores it.

[0051] [Normal procedure 9: S9] The central control device 130 counts whether the first predetermined time has elapsed, and if the second predetermined time has not elapsed (step S9: N), it waits, and if the second predetermined time has elapsed (step S9: Y), it proceeds to normal procedure 10.

[0052] [Normal procedure 10: S10] The central control device 130 counts whether a third predetermined time (e.g., 30 minutes) has elapsed, and if the third predetermined time has not elapsed (step S10:N), returns to normal procedure 6 to acquire the next sensor data, and if the third predetermined time has elapsed (step S10:Y), proceeds to normal procedure 11. Note that the third predetermined time is the same time interval for both the flow of GPS data acquisition from normal procedures 1 to 5 and the flow of sensor data acquisition from normal procedures 6 to 10, so the timing of transition from normal procedure 5 to normal procedure 11 and the timing of transition from normal procedure 10 to normal procedure 11 are simultaneous.

[0053] [Normal procedure 11: S11] At a third predetermined time interval (e.g., 30 minutes), under the control of the communication control means 152, the specific communication device 150 uses the specific communication module 151 to transmit data communication of the GPS data and sensor data temporarily stored in the memory device 140 to the external system 300 via the external specific communication antenna 310. Here, if the tracking system 100 is within the communication area of ​​the external specific communication antenna 310, data communication of the GPS data and sensor data temporarily stored in the memory device 140 can be performed to the external system 300 via the external specific communication antenna 310 at a third predetermined time interval (e.g., 30 minutes). Normal procedure 1 to normal procedure 11 are the basic repeating procedures.

[0054] In addition, in this normal procedure 11, if data transmission / reception to the external system 300 fails, a separate auxiliary routine process for retransmission will be launched in parallel. However, since it is necessary to continue acquiring GPS data and sensor data during this time, the repeated processing of this basic normal procedure 1 to normal procedure 11 will be maintained. In addition, cases in which the GPS data and sensor data are not received properly by the external system 300 may include, for example, when the tracking system 100 is not within the communication area of ​​a specific external communication antenna 310, or when all or part of the data is missing due to bad weather or communication failure.

[0055] Normal procedures 1 to 11 shown in FIG. 2 do not mention erasing the GPS data and sensor data that were temporarily stored in memory device 140. However, since retransmission may be necessary until it is confirmed that the data communication has been normally received by external system 300 via external specific communication antenna 310, it is preferable to continue temporarily storing the data in memory device 140 until a predetermined time has elapsed, or until a notification of normal reception is received from external system 300.

[0056] [Ancillary routine processing for retransmission] In general LPWA, it is not assumed that the LPWA and the external system 300 confirm the success of data transmission and reception by exchanging so-called ACK / NCK. In this embodiment, as an auxiliary routine process for retransmission in the tracking system 100 of the present invention, the following description will be divided into a case where an operation is assumed in which there is no exchange of so-called ACK / NCK between the external system 300 to confirm the success of data transmission and reception (Case 1) and a case where an operation is assumed in which ACK / NCK is exchanged (Case 2).

[0057] [Auxiliary routine processing for retransmission: No ACK / NCK exchange (Case 1)] [Retry procedure for the first case] The retransmission procedure in the first case will be described. In the first case, the error countermeasure is to have the external system 300 manage the GPS data and sensor data, identify the GPS data and sensor data that have not been received, and request retransmission from the tracking system 100, and the tracking system 100 retransmits the corresponding GPS data and sensor data in response to the retransmission request from the external system 300. For this purpose, a device is used to perform sequence control by attaching a data ID number to reliably identify data that has failed to be transmitted or received. That is, to perform sequence control, the GPS module 110 or the central control device 130 assigns a GPS data serial number to each GPS data measured at a first predetermined time interval (for example, 15 minutes), thereby performing sequence management for the GPS data. In normal procedure 3, the GPS data with the GPS data serial number assigned is written to the memory device 140.

[0058] Furthermore, sequence management is performed for the sensor data by assigning a sensor data serial number to each piece of sensor data measured at a second predetermined time interval (for example, 10 minutes) by the sensor module 120 or the central control device 130. In the normal procedure 8 described above, the sensor data is written to the memory device 140 with the sensor data serial number assigned. In the above normal procedure 11, when data communication is performed by the specific communication device 150, GPS data with a GPS data serial number and sensor data with a sensor data serial number are transmitted.

[0059] Here, after normal procedure 11, the specific communication device 150 does not know whether the data transmission / reception has failed or not. However, in this first case, even if normal procedure 11 is completed, there is a possibility that a retransmission request will be received from the external system 300 later, so the GPS data or sensor data for which data transmission / reception has been completed is not erased from the memory device 140 but continues to be temporarily stored.

[0060] Sequence control is performed in the external system 300, and the external system 300 checks whether any data is missing from the sequence order of the received data. If no data is missing, the external system 300 does not make a retransmission request. Here, it is assumed that the external system 300 has determined that some of the GPS data and sensor data received up to that point are missing in sequence. The external system 300 sends a request for retransmission of data that needs to be retransmitted to the tracking system 100 together with the GPS data serial number or the sensor data serial number. The flow of this process is shown in FIG.

[0061] [Error Procedure 1-1: S21] The communication control means 152 of the specific communication device 150 or the central control device 130 monitors whether a resend request for data specifying the GPS data serial number or the sensor data serial number is received from the external system 300 (S21).

[0062] [Error Procedure 1-2: S22] When a retransmission request is received, the communication control means 152 or central control device 130 of the specific communication device 150 retransmits the GPS data or sensor data including the GPS data serial number or sensor data serial number specified in the retransmission request, triggered by the passage of the next third predetermined time interval (S22).

[0063] [Error Procedure 1-3: S23] In the first case, even after executing this error procedure 1-2, it is not clear whether the external system 300 has succeeded in receiving the data or failed again. Therefore, the GPS data and sensor data temporarily stored in the memory device 140 are not erased, but continue to be temporarily stored as is. However, instead of waiting indefinitely, it is confirmed whether a predetermined retransmission acceptance time (for example, 12 hours or 24 hours) has passed (S23). Similarly, if no resend request has been received (S21: N), the process moves to error procedure 1-3 (S23) and checks whether a predetermined resend acceptance time (for example, 12 hours) has elapsed (S23). If the predetermined retransmission acceptance time has not elapsed (S23: N), the process returns to the state of monitoring the reception of the retransmission request (return to S21).

[0064] [Error procedure 1-4: S24] In the above error procedure 1-3, if the temporary storage period reaches a certain period (for example, a predetermined period of 12 hours or 24 hours), it is assumed that there will be no resend request from the external system 300, and the temporary storage in the memory device 140 is stopped and the corresponding data is deleted. Note that the length of the temporary storage period can be determined based on the capacity and operation of the memory device 140.

[0065] [Auxiliary routine processing for retransmission: Operation with ACK / NCK exchange (Case 2)] [Retry procedure for the second case] The retransmission procedure in the second case will now be described. As described above, in general LPWA, confirmation by so-called ACK / NCK exchange to confirm the success of data transmission and reception between the LPWA and the external system 300 is not assumed. However, in this embodiment, in the tracking system 100 of the present invention, it is also possible to assume an operation in which ACK / NCK is exchanged between the tracking system 100 and the external system 300 as an auxiliary routine process related to retransmission (Case 2). The process flow in that case is as shown in the following flow in FIG. 4. In the second case, the tracking system 100 and the external system 300 check each other for success / failure of transmission and reception, and so GPS data and sensor data that have not been received because no ACK is returned are resent from the tracking system 100. Therefore, it is not essential to assign a data ID number, but since it is often useful to have a data ID number, it may be assumed here that a data ID number has been assigned.

[0066] [Retry procedure for the second case] [Error Procedure 2-1] After the above normal procedure 11, the specific communication device 150 or the central control device 130 monitors whether an ACK is returned from the external system 300 (S31).

[0067] [Error Procedure 2-2] If an ACK is returned from the external system 300 (S31: Y), this means that data transmission and reception was successful, including the GPS data and sensor data that had continued to be temporarily stored, and the GPS data and sensor data that had been temporarily stored in the memory device 140 are erased (S32). After that, the process returns to error procedure 2-1 again to wait for monitoring the ACK when transmitting / receiving the next data.

[0068] [Error procedure 2-3] If the specific communication device 150 is unable to communicate data via the specific communication module 151, that is, if no ACK is returned from the external system 300 (S31:N), the ACK return from the external system 300 may be delayed for some reason, so the unsent GPS data and sensor data written in the memory device 140 continue to be temporarily stored in the memory device 140 while monitoring the passage of a specified ACK waiting time (S33). If the predetermined ACK waiting time has not yet elapsed (S33: N), the specific communication device 150 or the central control device 130 returns to the state of monitoring for an ACK being returned from the external system 300 (to S31). If the predetermined ACK waiting time has not yet elapsed (S33: Y), proceed to error procedure 2-4: S34.

[0069] [Error Procedure 2-4: S34] When the next third predetermined time interval (e.g., 30 minutes) has elapsed, the specific communication module 151 is caused to execute a retransmission process for the GPS data and sensor data that have been temporarily stored in the memory device 140 and for which an ACK has not been returned and that have been treated as unsent (S34). At the same time, the specific communication module 151 is also caused to execute data communication for the GPS data and sensor data that have been newly written into the memory device 140 up until the third predetermined time interval, according to the normal procedure 11 shown in Fig. 2 (S11). Thereafter, the specific communication device 150 or the central control device 130 returns to a state of monitoring whether an ACK is returned from the external system 300 (to S31).

[0070] If an ACK is not returned for the resent GPS data and sensor data (S31:N), there is a possibility that the data transmission / reception has failed again, so the unsent GPS data and sensor data written in memory device 140 continue to be temporarily stored in memory device 140 while monitoring the passage of the next specified ACK waiting time (S33).If the specified ACK waiting time has elapsed without an ACK being returned (S33:Y), the data is resent again (S34). Repeat steps 2-1 to 2-4 until an ACK is received.

[0071] If an ACK is returned from the external system 300 (S31: Y), the corresponding GPS data and sensor data are deleted from the memory device 140 (S32). In this second case, the central control device 130 or the specific communication device 150 will manage the data that has been temporarily stored in the memory device 140, including both data that has been completely transmitted and received and data that has not yet been completely transmitted.

[0072] As described above, the tracking system 100 according to the first embodiment has a simple device configuration including a GPS module, a sensor module, a central control device, a memory device, a GPS data temporary storage means, a sensor data temporary storage means, and a communication control means (LPWA communication module), and can collect GPS data and sensor data and transmit them to the external system 300, and can also retry transmission and reception of data that has failed in transmission and reception. While continuing to temporarily store data that has not been transmitted, new data can be accumulated, and data transmission can be managed so that there are no omissions. Example 2

[0073] 2 shows an application example of a tracking system according to a second embodiment of the present invention. The second embodiment is a state detection system 400a for a construction machine attachment. FIG. 5(a) shows a simple condition detection system 400a for an attachment of a construction machine. In this construction machine attachment status detection system 400a, the tracking target 200 shown in the first embodiment is a construction machine attachment 200a, and the tracking system 100 is attached to, wrapped around, or mounted inside a housing of the construction machine attachment 200a. It is preferable to ensure sufficient capacity for the battery or cell. The construction machine attachment 200a is a movable part of the construction machine and a replaceable part. For example, it is a bucket part that is a workpiece attached to the end of the arm of the construction machine, and the bucket part can be replaced with another attachment, making it possible to perform various functions such as scooping, lifting, gripping, cutting, crushing, and mowing. There are various types of bucket parts, such as shovels, slope buckets, forestry attachments, mowing attachments, breakers, steel frame cutting machines, crushers, and forks. Since there is only one main body, the removed construction machine attachment 200a is temporarily stored. There is a need to remotely monitor the position and status of the construction machine attachment 200a, which may be left temporarily near the work site, not limited to a management location such as a warehouse. Therefore, tracking is performed by attaching the tracking system 100 of the present invention to the construction machine attachment 200a. It is expected that in many cases the sensor module 120 will suffice as long as it is capable of measuring the acceleration data and time data generated in the construction machine attachment 200a that is the tracking target. The construction machine attachment status detection system 400a that receives the GPS data and sensor data can detect the time that the construction machine attachment 200a is in use and the time that it is not in use. Example 3

[0074] An application example of the tracking system 100 according to the third embodiment of the present invention will be described. The third embodiment is a farm implement status detection system 400b. FIG. 5(b) shows a simple construction machine attachment condition detection system 400a. In this agricultural machinery status detection system 400b, the tracking target 200 shown in the first embodiment is the agricultural machinery 200b, and the tracking system 100 is attached to, wrapped around, or mounted inside a housing of the agricultural machinery 200b. It is preferable to ensure sufficient capacity for batteries and other devices.

[0075] There are various types of agricultural machinery 200b. The sizes of the agricultural machinery 200b vary from large to small. For example, there are a wide variety of agricultural machinery 200b, such as tractors, combine harvesters, rice planters, tillers, transport vehicles, chemical sprayers, grass cutters, and chainsaws. The agricultural machinery 200b is generally stored in a barn on a farm, but it is not limited to a storage location such as a barn, and may be temporarily left in a field or forest where agricultural work is being carried out, and there is a need to remotely monitor the location and condition of the agricultural machinery 200b. Therefore, the agricultural machinery 200b is tracked by attaching the tracking system 100 of the present invention to the agricultural machinery 200b. It is expected that in many cases, the sensor module 120 will be sufficient if it is capable of measuring acceleration data and time data generated in the agricultural implement 200b that is the target of tracking. The agricultural implement status detection system 400b that receives the GPS data and sensor data can detect the time when the agricultural implement 200b is in use and the time when it is not in use. Example 4

[0076] An application example of the tracking system 100 according to the fourth embodiment of the present invention will be described. The fourth embodiment is a victim search system 400c. FIG. 6 shows the configuration of a simple victim search system 400c. Regarding the external specific communication antenna, FIG. 6(a) is an example of a configuration that uses an external specific communication antenna 310 of a fixed facility, and FIG. 6(b) is an example of a configuration that uses an external specific communication antenna mounted on a moving body such as a drone. In this victim search system 400c, the tracking target 200 shown in the first embodiment is a human 200c who is a mountain climber or a marine passenger, and the tracking system 100 is stored in the clothes or life jacket of the mountain climber or marine passenger. It is preferable to ensure sufficient capacity for the battery or cell. The person to be tracked may be, for example, a mountain climber or a person on an ocean vessel, but is not limited to these, and may also be a child who is prone to getting lost, or an elderly person who is prone to going missing, etc. It is thought that people who are the target of tracking are not expected to be searched for in advance, but often become searched for when they encounter some kind of trouble or an unfortunate situation. There is a need to remotely search for the location and condition of the person 200c who encounters such a situation. Therefore, mountain climbers, oceangoers, children who are easily lost, and elderly people who are easily lost are tracked by having them carry the tracking system 100 in their clothes or life jackets just in case.

[0077] It is considered that in many cases GPS data alone will be sufficient for searching for a missing person, but it is assumed that the sensor module 120 will also be able to detect the direction of movement if it is capable of measuring the acceleration data and time data generated in the missing person 200c who is the target of tracking. The victim search system 400c that receives the GPS data and sensor data can detect the location, direction of movement, etc. of the victim.

[0078] Next, it may be assumed that the location of the victim 200c is in an area where the external specific communication antenna 310 shown in the first embodiment is not installed, such as in the mountains or on the sea, and GPS data may not be obtained at the beginning of the search. Therefore, as shown in FIG. 6(b), if the external specific communication antenna 310 is mounted on a moving object, it is possible to freely expand the search range. For example, if the external specific communication antenna 310 is mounted on a drone capable of flight, when the victim enters the communication area of ​​the specific communication antenna mounted on the drone, information regarding the location of the victim can be obtained through data communication from the tracking system 100 worn by the victim. Example 5

[0079] An application example of the tracking system 100 according to the fifth embodiment of the present invention will be described. The fifth embodiment is an immovable object condition detection system 400d. FIG. 7 shows the configuration of a simple immovable object status detection system 400d. In this immovable object state detection system 400d, the tracking target 200 shown in the first embodiment is a rock or mound 200d, which is usually an immovable object, and the tracking system 100 is attached to the tracking target, which is usually an immovable object, such as a rock, mound, forest, road, bridge, or tunnel. It is preferable to ensure sufficient capacity for batteries or other cells.

[0080] The immovable objects to be tracked are expected to remain stable and immobile under normal circumstances, but accidents such as movement or collapse may occur due to weather conditions such as earthquakes, loosening of the ground, heavy rain or heavy snow, etc. In such cases, there is a need to remotely monitor the position and condition of the immovable objects 200d. Therefore, the immovable objects are tracked by attaching a tracking system 100 to them. Furthermore, by focusing on acceleration data from sensor data rather than GPS data, it is hoped that slight fluctuations in the movements of these vehicles and signs of such fluctuations can be detected at an early stage. Therefore, it is preferable that the sensor module 120 is capable of measuring at least acceleration data generated in the tracked object. The external system 300 that receives the sensor data and GPS data detects the movement or signs of movement of an unmoving object.

[0081] Although the preferred embodiment of the present invention has been illustrated and described above, the present invention can be widely applied as a tracking system. In addition, by attaching the tracking system of the present invention to various tracking targets and monitoring their states, a state detection system for various tracking targets can be constructed. It will be understood that various modifications can be made without departing from the spirit and scope of the invention. [Explanation of symbols]

[0082] 100 Tracking System 110 GPS Module 120 Sensor Module 130 Central Control Unit 131 GPS data temporary storage means 132 Temporary storage means for sensor data 140 Memory Device 150 Specific communication devices 151 Specific communication module 152 Communication Control Means 200 Tracked 300 External Systems 310 External specific communication antenna 400a Condition detection system for construction machinery attachments 400b Agricultural machinery condition detection system 400c Disaster Location System 400d Stationary Status Detection System

Claims

1. A tracking system that autonomously measures at least one change in a position, an attitude, or a moving speed of a tracked object and autonomously communicates the change to an external system, a GPS module for acquiring position data of the tracked object at a first predetermined time interval; a sensor module that measures at least one of acceleration data, magnetic change data, illuminance change data, temperature change data, and time data generated in the tracking target at a second predetermined time interval; The system includes a central control unit, a memory unit, and a specific communication unit, the GPS module includes a GPS data temporary storage means for writing measurement results of position data of the tracking target obtained at the first predetermined time interval into the memory device; the sensor module includes a sensor data temporary storage means for writing any one of the sensor data of the tracked object, the acceleration data, the magnetic change data, the illuminance change data, the temperature change data, and the time data, obtained at the second predetermined time interval, into the memory device; A tracking system characterized in that the specific communication device is provided with a specific communication module based on the Low Power Wide Area communication standard and a communication control means for performing data communication of the GPS data and the sensor data temporarily stored in the memory device to the external system via the external specific communication antenna at a third predetermined time interval if the specific communication device is within a communication area of ​​the external specific communication antenna.

2. The tracking system described in claim 1, characterized in that, when the specific communication device is unable to communicate data after a third specified time interval has elapsed, the communication control means continues to temporarily store the untransmitted GPS data and the sensor data written in the memory device in the memory device, and, when the next third specified time interval has elapsed, causes the specific communication module to execute data communication of the untransmitted GPS data and the sensor data and the GPS data and the sensor data newly written until the next third specified time interval.

3. a GPS data serial number is assigned to the GPS data at each of the first predetermined time intervals taken for measurement by the GPS module or the central control device, and the GPS data is written to the memory device; The sensor module or the central control device assigns a sensor data serial number to the sensor data at each of the second predetermined time intervals during which the sensor data is measured, and writes the sensor data into the memory device; The tracking system according to claim 2, characterized in that when the data communication is performed by the specific communication means, the GPS data with the GPS data serial number and the sensor data with the sensor data serial number are transmitted.

4. The tracking system described in claim 3, characterized in that the communication control means or the central control device accepts a retransmission request for data specifying the GPS data serial number or the sensor data serial number from the external system via the external specific communication antenna, and retransmits the GPS data with the GPS data serial number specified in the retransmission request and the sensor data with the specified sensor data serial number.

5. 5. The tracking system according to claim 1, wherein the specific communication module is a Low Power Wide Area Network device that enables low-power, long-distance wireless communication.

6. The tracking object is a construction machine attachment that is a movable part and a replaceable part of a construction machine, The sensor module is capable of measuring the acceleration data and the time data generated in the tracking target, A construction machine attachment status detection system utilizing a tracking system as described in claim 5, wherein an external system that receives the sensor data can detect the time when the construction machine attachment is in use and the time when it is not in use.

7. The tracking target is agricultural machinery. The sensor module is capable of measuring the acceleration data and the time data generated in the tracking target, 6. An agricultural machinery status detection system utilizing a tracking system as described in claim 5, wherein an external system that receives the sensor data can detect the position of the agricultural machinery, the time when it is in use, and the time when it is not in use.

8. The tracking target is a human being such as a mountain climber, a marine passenger, a child, or a wanderer, The human is wearing a tracking system according to claim 5, 6. A missing person search system using a tracking system according to claim 5, wherein an external system that receives the GPS data can detect the position of the person being tracked.

9. The missing person search system described in claim 8, wherein the external specific communication antenna is mounted on a flyable drone, and when the missing person is within the communication area of ​​the specific communication antenna mounted on the drone, information regarding the location of the missing person can be obtained through data communication from the tracking system described in claim 5 worn by the missing person.

10. The tracked object is a rock, a bank, a forest, a road, a bridge, or a tunnel, which is normally an immovable object; The tracking system according to claim 5 is attached to the immovable object, The sensor module is capable of measuring at least the acceleration data generated in the tracked object, An immovable object status detection system using the tracking system described in claim 5, wherein an external system that receives data communication of the GPS data and the sensor data can detect the movement or signs of movement of the immovable object.

11. A tracking method for autonomously measuring at least one change in a position, an attitude, or a moving speed of a tracked object, and autonomously communicating the change to an external system, comprising: acquiring location data of the tracked object at a first predetermined time interval by a GPS module; measuring at least one of acceleration data, magnetic change data, illuminance change data, temperature change data, and time data of the tracked object at a second predetermined time interval using a sensor module; Equipped with a central control unit, a memory unit, and a specific communication unit, the GPS module executes a GPS data temporary storage for writing measurement results of the position data of the tracked object obtained at the first predetermined time interval into the memory device; the sensor module executes a sensor data temporary storage for writing any one of the sensor data of the tracking target, the acceleration data, the magnetic change data, the illuminance change data, the temperature change data, and the time data obtained at the second predetermined time interval, into the memory device. A tracking method characterized in that, when the specific communication device is within a communication area of ​​an external specific communication antenna, specific communication is performed via the external specific communication antenna according to a specific communication standard, to transmit data communication of the GPS data and the sensor data temporarily stored in the memory device to the external system at a third predetermined time interval.

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