JP2007018390A - Intruding object detection method, device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect and track an intruding object by positioning a plurality of structurally simple intruding object detection devices 5 in a field of detection. <P>SOLUTION: A radio sensor network is configured in advance for connecting the intruding object detection devices 5 positioned in advance in a detection area and provided with a sensor node 6 and at least one sensor 8 to a monitoring apparatus 1. The monitoring apparatus 1 extracts detection information about an intruding object 14 from radio signals periodically transmitted by the intruding object detection devices 5 to the monitoring apparatus 1 and determines which intruding object detection devices 5 have transmitted the radio signal information, to detect the position of the intruding object 14. The monitoring apparatus 1 receiving the detection information about the intruding object 14 records the position of the intruding object 14 at time intervals to track the behavior of the intruding object 14. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an intruding object detection method, apparatus, and program. More specifically, the present invention relates to a system for detecting an intruding object on a large site and tracking its action.

  Technology for detecting human intrusions by detecting light beam breaks caused by the passage of humans with light beam generators and receivers installed around the site as a detection of intruders in large sites such as power plants and substations. Exists (see Patent Document 1).

In addition, a large number of sensors, such as infrared sensors, are installed on the premises in facilities where unmanned facilities operate (unmanned facilities), and the monitoring device itself collects information by wire or wireless, so that it can enter the facilities. A remote monitoring system for monitoring the occurrence of an abnormality such as a person or a disaster has been proposed (see Patent Document 2).
JP-A-60-125582 JP 2002-140779

  However, with the technique of Patent Document 1, it is difficult to determine where a human is in a vast site once a human has entered the site. Further, in the technique of Patent Document 2, there is a problem that when information is transmitted wirelessly, the sensor can be installed only within a distance range where wireless communication is possible. As a result, the installation position of the sensor is limited, and there is a problem that the sensor cannot be installed at a place necessary for monitoring. As a result, although the intruder was detected, it was not possible to track the detailed behavior of the intruder after that.

  In addition, in order to detect the presence of humans throughout the site, large-scale installation work, wiring laying work, and the like associated with the installation of a plurality of sensor facilities are required. In order to perform installation work, wiring work, etc. according to the number of sensor facilities, a great deal of cost and labor were required. In addition, there is a problem that the scale of the system itself becomes large. Furthermore, even after the introduction, there is a problem that operating costs such as labor costs are required to operate such a large-scale monitoring facility.

  Accordingly, the present invention provides an intruding object detection method and apparatus for detecting an intruding object by installing an intruding object detecting device having a small and simple configuration in a wireless sensor network, and further performing action tracking of the intruding object in more detail. And to provide a program.

  In order to achieve such an object, an intruding object detection method according to claim 1 is a communication that includes an ad hoc wireless communication function that is installed in advance in a detection area and has a known position information, and at least one sensor. A wireless sensor network is configured between the terminals and between the communication terminal and the base station, and the base station extracts intrusion object detection information from a radio signal transmitted from the communication terminal to the base station, and The position of the intruding object is detected by determining which communication terminal the wireless signal is transmitted from.

  An intruding object detection device according to claim 11 is installed in advance in a detection area, between a sensor node having an ad hoc wireless communication function whose position information is known, and a communication terminal including at least one sensor. A wireless sensor network is configured between the communication terminal and the base station, and the base station extracts intruding object detection information from a wireless signal transmitted from the communication terminal to the base station, and the wireless signal is The position of the intruding object is detected by determining whether the information is transmitted from the communication terminal.

  Further, the intruding object detection program according to claim 21 is a sensor node having an ad hoc wireless communication function whose position information is known and a wireless signal transmitted by a communication terminal including at least one sensor, the fluctuation of the output voltage. From a means for extracting a wireless signal including information whose magnitude exceeds a preset threshold as detection information of an intruding object and storing the detection information in a storage device, and an identification number of a communication terminal included in the wireless signal, Means for determining from which communication terminal the wireless signal is transmitted information, and further, the position information of the communication terminal corresponding to the identification number stored in advance is read from the storage device and the position of the intruding object is specified. The computer is made to function as a means to do this.

  Therefore, a wireless sensor network is configured in advance between a sensor node having an ad hoc wireless communication function, a communication terminal including at least one sensor, and a communication terminal and a base station. When the base station receives detection information indicating that the sensor has detected an intruding object or the like among the wireless signals to be detected, it is determined that the intruding object has been detected, and further, from the identification number of the communication terminal included in the wireless signal By determining which communication terminal the wireless signal is transmitted from, it is determined from which communication terminal the detected information is transmitted, that is, the position of the intruding object is specified. .

  According to a second aspect of the present invention, in the method for detecting an intruding object according to the first aspect, the base station records the detection information received by the intruding object detecting method, and detects the intruding object from the detection position of the intruding object every time. The behavior is tracked after detection. The invention according to claim 12 is the intruding object detection device according to claim 11, wherein the base station records the received detection information, and detects the intruding object from the detecting position of the intruding object every time. It is a behavior tracking. The invention according to claim 22 is the intruding object detection program according to claim 21, wherein the identification number of the communication terminal that detected the intruding object from the detection information received from the communication terminal and the detection information are received. The computer functions as a means for storing time information in a storage device for a certain period of time and a means for tracking the behavior of the intruding object in the detection area by displaying the intruding object detection position for each time on the output device. I try to let them.

  Therefore, the position of the intruding object is specified from the position of the communication terminal where the intruding object is detected, and further, the position where the intruding object is detected is continuously stored for a certain period of time. The movement trajectory of the intruding object is traced by taking the trajectory of the movement.

  According to a third aspect of the present invention, in the method for detecting an intruding object according to the first or second aspect, the sensor is an infrared sensor. The invention according to claim 13 is the intruding object detection device according to claim 11 or 12, wherein the sensor is an infrared sensor. Therefore, when an intruding object enters the detection range of the infrared sensor, the intruding object is detected by the infrared sensor.

  According to a fourth aspect of the present invention, in the method for detecting an intruding object according to any one of the first to second aspects, the sensor is a UWB sensor. The invention described in claim 14 is the intruding object detection device according to claim 11 or 12, wherein the sensor is a UWB sensor. Therefore, when the intruding object enters the detection range of the UWB sensor, the intruding object is detected by the UWB sensor.

  According to a fifth aspect of the present invention, in the method for detecting an intruding object according to any one of the first to second aspects, the sensor is an ultrasonic sensor. The invention according to claim 15 is the intruding object detection device according to claim 11 or 12, wherein the sensor is an ultrasonic sensor. Therefore, when the intruding object enters the detection range of the ultrasonic sensor by the ultrasonic sensor, the intruding object is detected.

  According to a sixth aspect of the present invention, in the method for detecting an intruding object according to any one of the first to fifth aspects, the sensors are arranged in a three-dimensional direction by being spaced apart in the horizontal direction and arranged in a plurality of different vertical directions. All directions are set as the detection range. The invention according to claim 16 is the intruding object detection device according to any one of claims 11 to 15, wherein a plurality of the sensors are arranged in different vertical directions at intervals in the horizontal direction. The detection range is all directions in the original direction. Accordingly, a plurality of sensors are attached in the horizontal direction, and further arranged in different vertical directions so that all three-dimensional directions around the communication terminal are set as the detection range.

  The invention according to claim 7 is the intruding object detection method according to any one of claims 1 to 6, wherein the sensor node has a plurality of channels, and a channel is assigned to each sensor, and the channel information is assigned to the sensor information. It transmits to the said base station with detection information. The invention according to claim 17 is the intruding object detection device according to any one of claims 11 to 16, wherein the sensor node has a plurality of channels, and a channel is assigned to each of the sensors. Information is transmitted to the base station together with the detection information. Therefore, in addition to the identification information indicating which communication terminal the information is from, the channel information indicating which detection information is detected by which sensor attached to the communication terminal is transmitted to the base station together with the detection information. It is said.

  The invention according to claim 8 is the intruding object detection method according to any one of claims 3 to 5, wherein the base station has information in which the magnitude of the fluctuation of the output voltage from the sensor exceeds a preset threshold value. When a wireless signal is received from the sensor node, it is determined that an intruding object has been detected. The invention according to claim 18 is the intruding object detection device according to any one of claims 13 to 15, wherein the base station has a magnitude of variation in output voltage from the sensor exceeding a preset threshold value. When a wireless signal having information is received from the sensor node, it is determined that an intruding object has been detected. Therefore, it is assumed that an intruding object has been detected when the variation in the output voltage from the sensor is large. In addition, since the range to be detected can be arbitrarily set by the threshold, the optimum threshold is arbitrarily set according to the detection target to be detected and the environment of the detection area.

  The invention according to claim 9 is the intruding object detection method according to any one of claims 1 to 8, wherein the communication terminal is normally in a standby state, and is in a standby state when receiving an activation command from a base station. The system enters the start state, and returns to the standby state when there is no start command for a certain period of time. The invention according to claim 19 is the intruding object detection device according to any one of claims 11 to 18, wherein the communication terminal is normally in a standby state and receives an activation command from a base station. When the standby state is changed from the standby state to the startup state and no startup command is issued for a certain time, the standby state is restored. Therefore, the communication terminal is in a standby state during normal times to suppress power consumption, and if it detects that an intruding object has been activated, it will be autonomous if it does not receive an activation command from the base station for a certain period of time. To return to the standby state.

  A tenth aspect of the present invention is the intruding object detection method according to any one of the first to eighth aspects, wherein the communication terminal always activates only the communication terminals arranged on the outer periphery of the detection area, and the communication terminal When an intruder is detected, the base station transmits an activation command to another communication terminal in a standby state as necessary. The invention according to claim 20 is the intruding object detection device according to any one of claims 11 to 18, wherein the communication terminal always activates only the communication terminals arranged on the outer periphery of the detection area, When the communication terminal detects an intruder, the base station transmits an activation command to another standby communication terminal as necessary. Therefore, when a communication terminal that is constantly activated in the outer periphery of the detection area detects an intruding object and receives the detection information, the base station receives the detection information among other communication terminals in the detection area. An activation command for switching from a standby state to an activated state is transmitted to a communication terminal necessary for tracking an object.

  As described above, according to the intruding object detection method according to claim 1, the intruding object detection device according to claim 11, and the intruding object detection program according to claim 21, communication terminals having an ad hoc wireless communication function can mutually communicate with each other. Information is transmitted and received through communication. The communication terminal does not need to directly transmit / receive to / from the base station, and communicates with the base station via a nearby communication terminal. Therefore, detection in a wide range is possible regardless of the wireless communicable distance. In addition, since the communication terminal performs autonomous communication, it is not necessary to provide an access point separately. For this reason, it can be realized at low cost, installation is simple, and wiring work is unnecessary.

  Further, the communication terminal of the present invention is composed of sensor nodes and sensors, both of which are small and light, and can be easily realized. Therefore, the installation location is not limited. Further, since the base station can also be realized by a general computer, the wireless sensor network according to the present invention can be realized simply and at low cost. Further, since communication is performed in a wireless sensor network, wiring work or the like is not necessary. For this reason, the detection of the intruding object whose position has been specified can be realized with low cost and little labor. Further, since the present invention has a small amount of data processing, the processing can be executed in real time. That is, an alarm or the like can be issued simultaneously with the detection of an intruding object.

  According to the intruding object detection method according to claim 2, the intruding object detection device according to claim 12, and the intruding object detection program according to claim 22, the intruder detection area is detected after the intruding object is detected. Can be tracked in real time. In addition, by recording a behavior pattern, it can be used for behavior analysis of an intruding object. It is also possible to record the position of the intruding object every hour. It is possible to easily track the detected intruding object at a low cost.

  Further, according to the intruding object detection method according to claim 3 and the intruding object detection device according to claim 13, a communication terminal can be realized in a small size and at a low cost, so that it is low even when many communication terminals are used. Implementation is possible at cost.

  In addition, according to the intruding object detection method according to claim 4 and the intruding object detection device according to claim 14, a communication terminal that is small and consumes less power can be realized. But it can be implemented at low cost. Furthermore, high-speed data communication is possible.

  In addition, according to the intruding object detection method according to claim 5 and the intruding object detection device according to claim 15, a communication terminal can be realized in a small size and at low cost, so that it is low even when many communication terminals are used. Implementation is possible at cost.

  In addition, according to the intruding object detection method according to claim 6 and the intruding object detection device according to claim 16, it is possible to perform detection without a blind spot using the three-dimensional direction of the communication terminal as a detection range.

  Moreover, according to the intruding object detection method according to claim 7 and the intruding object detection device according to claim 17, it is possible to specify which channel of which communication terminal is the detection position of the intruding object. That is, since it can be determined from which sensor of the communication terminal the information is transmitted, the position of the intruding object can be specified in more detail.

  Further, according to the intruding object detection method according to claim 8 and the intruding object detection device according to claim 18, the detection of the intruding object is performed when information whose fluctuation of the output voltage of the sensor exceeds the threshold is received. Therefore, an optimum threshold value can be arbitrarily set according to the detection target and the detection environment.

  Further, according to the intruding object detection method according to claim 9 and the intruding object detection device according to claim 19, it is possible to suppress the power consumption by setting the communication terminal in the activated state only when necessary. It is possible to reduce labor such as reduction of battery and battery replacement.

  In addition, according to the intruding object detection method according to claim 10 and the intruding object detection device according to claim 20, only the communication terminals necessary for detection are first activated, and the other communication terminals are set in a standby state. Thus, it is possible to suppress the power consumption, and it is possible to reduce costs and labor such as battery replacement.

  Hereinafter, the configuration of the present invention will be described in detail based on embodiments shown in the drawings.

  1 to 22 show a first embodiment of the present invention. In the present embodiment, the intruding object detection device 5 is used as a communication terminal, and the monitoring device 1 is used as a base station. First, the intruding object detection device 5 will be described.

  FIG. 4 shows an example of the configuration of the intruding object detection device 5. The intruding object detection device 5 includes a sensor node 6, a battery 7, and an infrared sensor 8, which are connected by wiring, although not particularly illustrated. In the present embodiment, the sensor node 6, the battery 7, and the infrared sensor 8 are installed in a box-shaped container to form the intruding object detection device 5. However, the shape is not particularly limited, and the sensor node 6, the infrared sensor The shape is not limited as long as the configuration includes the battery 7. The battery 7 supplies power to the sensor node 6 and the infrared sensor 8, and may be directly attached to the sensor node 6 or the infrared sensor 8, for example. The sensor node 6 is a small sensor having a communication function. In addition, the kind of battery 7 is not specifically limited, For example, a dry cell, a solar cell, a fuel cell etc. may be sufficient. Further, for example, a plurality of types of batteries may be used in combination.

  The intruding object detection device 5 is a device in which a sensor node 6 having an ad hoc wireless communication function communicates with a sensor node 6 of another intruding object detection device 5.

  Next, an example of the configuration of the sensor node 6 is shown in FIG. The sensor node 6 converts an input voltage from the infrared sensor 8 into a radio signal, and transmits and receives the radio signal by an ad hoc radio communication function. The sensor node 6 includes a power supply unit 9, a radio unit 10, a control unit 11, a sensor unit 12, and an antenna unit 13. The power supply unit 9 is connected to the battery 7 and supplies power to the radio unit 10, the control unit 11, and the sensor unit 12 of the sensor node 6. The battery 7 may be a part of the power supply unit 9. In addition, the sensor unit 12 is connected to the infrared sensor 8 and an output voltage of the infrared sensor 8 is input. The radio unit 10 converts an electrical signal from the control unit 11 into a radio signal and transmits the radio signal to the antenna unit 13. Conversely, the radio signal received from the antenna unit 13 is converted into an electrical signal and transmitted to the control unit 11.

  The control unit 11 controls the sensor node 6. For example, information from the sensor unit 12 is transmitted to the wireless unit 10 and transmitted to the monitoring device 1 by an ad hoc wireless communication function that converts an input voltage from the sensor unit 12 into an electrical signal. Also, processing such as transmission / reception of control signals necessary for transmission of information and transfer of received signals is performed as necessary. For example, the sensor node 6 includes a storage device in the control unit 11, but the storage unit is not limited to the control unit 11. For example, the wireless unit 10 and the sensor unit 12 may have a storage device or may separately have a storage unit. The storage device stores an identification number, route information, and the like.

  The infrared sensor 8 is connected to the sensor node 6 and detects the intruding object 14 using infrared rays. The output voltage is varied in accordance with the detected magnitude of the intruder's movement. The output voltage is input to the sensor node 6. In the present embodiment, the intruder is detected based on the magnitude of the fluctuation of the output voltage.

  In the present embodiment, an infrared sensor that detects a distance of about 5 m in a 90 ° detection range is used as the detection range and detection distance of the infrared sensor 8 alone. Therefore, the omnidirectional (360 °) of the intruding object detection device 5 is set as the detection range by mounting four infrared sensors 8 at the same height at 90 ° intervals on the intruding object detection device 5. . FIG. 6 in this embodiment shows a detection range when the intruding object detection device 5 equipped with the four infrared sensors 8 is viewed from above. It should be noted that the number of sensors mounted is not limited to four, but may be mounted so that all directions of the intruding object detection device 5 are within the detection range. For example, if the infrared sensor 8 whose omnidirectional sensor is the detection range is used, the infrared sensor 8 mounted on the intruding object detection device 5 is sufficient, and the detection range is about 60 °. When the sensor 8 is used, the detection range of all directions of the intruding object detection device 5 can be covered by attaching the six infrared sensors 8 at equal intervals. Further, for example, the infrared sensors 8 may be attached at unequal intervals, or an orientation in which the sensors are densely attached and an orientation in which the sensors are loosely attached may be provided depending on the detection environment.

  In addition, the sensor can be attached in any direction in the three-dimensional direction. Thereby, even if a sensor is installed at the same height, the three-dimensional direction can be widely covered as a detection range by changing the direction of the sensor. For example, even if four infrared sensors are installed at 90 ° intervals and at the same height, the vertical direction can be three-dimensionally covered by changing the direction of the sensors. Since the direction of the sensor can be arbitrarily set, the optimal installation direction of the sensor can be selected according to the detection target and the detection environment.

  In addition, the height at which the sensor is installed can be set to an optimum position depending on the detection environment. By appropriately changing the position in the vertical direction where the sensor is installed depending on the intruding object 14 to be detected and the installation location of the intruding object detection device 5, the three-dimensional detection range can be made three-dimensionally. For example, when detecting a small animal or the like, it is possible to detect a portion close to the ground by installing the sensor so that the detection range is low. For example, when it is desired to detect the intruding object 14 in a wide range in the vertical direction, a plurality of sensors may be attached in the vertical direction. Thus, by combining the height at which the sensor is installed and changing the direction of the sensor, all three-dimensional directions can be set as the detection range. Since the direction of the solid direction and the height to install the sensor can be set arbitrarily, the optimum sensor installation method can be selected according to the detection target and the detection environment. is there.

  Further, it is not always necessary that the omnidirectional of the intruding object detection device 5 is the detection range of the infrared sensor 8. For example, when detecting a person or the like passing through a passage, a sensor may be installed on the wall side along the passage. In this case, the passage direction may be within the detection range. In such a case, for example, even if one infrared sensor 8 is mounted on the intruding object detection device 5, the intruder can be detected.

  Further, since the infrared sensor is small and can be obtained at a low cost, it can be realized at a low cost even when performing detection in a vast site requiring many intruding object detection devices 5. can do. Infrared sensors are broadly classified into thermal sensors and quantum sensors according to their detection principles, but it is considered that intruder detection in a power plant in this embodiment may detect those actions and operations. Therefore, we decided to use a pyroelectric infrared sensor that detects changes in the amount of infrared rays received from all things such as people and the surrounding environment. The pyroelectric infrared sensor is a sensor that is widely used for automatic washing of automatic doors and toilets.

  Instead of the infrared sensor 8, a UWB sensor or an ultrasonic sensor having equivalent performance can be mounted on the intruding object detection device 5. The type of sensor is not limited to this.

  The UWB sensor is a sensor using UWB (Ultra Wide Band) technology. UWB technology refers to a wireless system that occupies an ultra-wideband frequency bandwidth and realizes ultra-high-speed communication over a short distance by transmitting information as an impulse signal. Unlike a normal wireless system, the UWB technology does not require a carrier signal, so that a wireless circuit can be simplified, and a small chip-type wireless device with low power consumption can be realized. In addition, the UWB technology is characterized by low power consumption. Note that the distance from the intruding object 14 can be measured by the UWB sensor. In addition, when the UWB sensor is used, the intruding object detection device 5 can be reduced in size and consumes less power, which is economical.

  An ultrasonic sensor can also be used. Since the ultrasonic sensor is small and can be obtained at low cost, it can be realized at a low cost even when detecting in a large site requiring many intruding object detection devices 5. be able to. Further, the distance from the intruding object 14 can be measured by the ultrasonic sensor. In the case of using a UWB sensor or an ultrasonic sensor, the voltage to be output is varied according to the detected distance to the intruder and the intruding object 14 is detected. Without limitation, other detection criteria can be used.

  FIG. 9 shows an example of a monitoring device. The monitoring device 1 includes a sensor node 6 and a computer 15. The monitoring device 1 converts a radio signal received by the sensor node 6 into an electric signal, and connects the computer 15 and the sensor node 6 to the computer 15 through a cable 16. Transmit as it is. The sensor node 6 needs to have a terminal for connecting to an external computer 15 or the like. However, the sensor node 6 only needs to exist in the sensor node 6 connected to the monitoring device, and is attached to the intruding object detection device 5. It is not always necessary for the sensor node 6 to be provided. Note that the sensor node 6 of the monitoring device 1 is also configured in advance as part of the wireless sensor network. In addition, although the monitoring apparatus 1 shall have the power supply 17, the buzzer 18, and the lamp | ramp 19, the structure of the monitoring apparatus 1 is not restricted to this. For example, the buzzer 18 and the lamp 19 are not necessarily required. When the computer 15 detects the intruding object 14, a warning sound may be emitted by a sound output function built in the computer 15.

  Although not specifically shown, the computer 15 of the monitoring device 1 includes a keyboard, a mouse, and the like as an input interface, a hard disk as an auxiliary storage device, a RAM as a main storage device in which temporary work data is recorded, Assume that an output device on which a detection device in which an abnormality is detected is displayed, a central processing unit (CPU), and the like are provided. The hardware resources are electrically connected through, for example, a bus. The storage device of the computer 15 stores the intruding object detection program of the present invention, and functions as the monitoring device 1 when the program is read and executed by the CPU.

  Next, an intruding object detection method will be described. The intruding object detection method includes a sensor node having an ad hoc wireless communication function, which is installed in advance in a detection area and has known position information, and a communication terminal including at least one sensor, and the communication terminal and the base station. The base station extracts the detection information of the intruding object from the radio signal periodically transmitted by the communication terminal to the base station, and the base station uses the information transmitted from any communication terminal. The position of the intruding object is detected by determining whether there is any. Further, the base station that has received the detection information of the intruding object periodically by the intruding object detection method records the position of the intruding object for each hour to track the behavior of the intruding object.

  In the present embodiment, it is assumed that an intruder is detected and a post-intruder intrusion is detected in a site where access to people such as a power plant and a substation is restricted. In this embodiment, intrusion of a person is detected and tracked. However, what can be detected and tracked in the present invention is not limited to a person, and may be, for example, an animal. For example, if the tracking target is an animal, it can also be used for monitoring the behavior pattern of the animal. Further, the place where an intruding object is detected and tracked is not particularly limited, and can be performed indoors or outdoors.

  Detecting and tracking intruders by wireless communication only between the communication terminal and the base station limits the detection range within the wireless communication range of the communication terminal or base station. Intruder detection is difficult. In the present embodiment, since the intruding object detection device 5 has an ad hoc wireless communication function for autonomous communication, the intruding object detection device 5 is connected to the intruding object detection device 5 within the range of the wireless communication possible distance. The information to be transmitted is transmitted / received to / from the monitoring device 1 via the other intruding object detection device 5. As a result, intruders can be detected and tracked in a vast site regardless of the wireless communication possible distance.

  In addition, in order to detect and track intruders in a vast site such as a power plant or a substation, a large-scale monitoring facility is usually required. Moreover, intruders in the site can be detected by installing a monitoring device or the like at the entrance / exit, but it is difficult to track an intruder once in the site. In order to install such an apparatus capable of tracking intruders, a large-scale capital investment is required and costs are high. In addition, operating costs such as personnel costs are expected to operate such a large-scale monitoring facility even after introduction.

  In the intruding object detection method, the intruding object 14 is detected and tracked by arranging a plurality of intruding object detection devices 5 as communication terminals with a simple configuration in the site where the detection is performed. Specifically, the intruding object detection device 5 that constitutes a wireless sensor network and whose position information is known is placed in advance in a site where detection and tracking are performed, and the intruding object 14 is detected when the intruding object 14 is detected. The detection information transmitted from the detection device 5 is collected by the monitoring device 1 to detect and track the intruding object 14.

  In the present embodiment, an ad hoc network is realized by a communication terminal having an ad hoc wireless communication function. Note that an ad hoc network is a wireless network that includes only communication terminals that do not require an access point and can communicate wirelessly and communicates between the communication terminals. Since a network can be configured with only terminals without using an access point, the network can be configured easily. In addition, since the communication terminal only needs to have another communication terminal within the wireless communication possible distance, it is possible to construct a large-scale network regardless of the wireless communication possible distance. In this embodiment, the intruding object detection device 5 equipped with the sensor node 6 is used as a communication terminal. Strictly speaking, the sensor node 6 mounted on the intruding object detection device 5 has a communication function. However, in the present embodiment, in order to facilitate understanding, the intruding object detection device 5 will be described below. Is described as one communication terminal.

  The intruding object detection method of the present invention includes, for example, a sensor network setting process (S1), an intruding object detection process (S2), and an intruding object tracking process (S3) as shown in FIG.

  The sensor network setting process (S1) is a process for constructing a wireless sensor network between the intruding object detection device 5 and the intruding object detection device 5, and between the intruding object detection device 5 and the monitoring device 1. This is because the intruding object detection device 5 that has detected the intruding object 14 needs to set a wireless sensor network in advance in order to communicate with the monitoring device. Specifically, the intruding object detection device 5 stores the information transmission processing inspection procedure, arranges it in the site where the intruding object 14 is detected and tracked, and further stores the position information about the arrangement position in the monitoring device 1 in advance. I will let you. The sensor network is one of technologies for realizing a ubiquitous network, and refers to a system that forms a network using sensor nodes having a communication function and collects data acquired by the sensor.

  An example of a sensor network setting method for the intruding object detection device 5 equipped with the sensor node 6 having the ad hoc wireless communication function will be described. FIG. 1 shows an example of the configuration of a sensor network by the intruding object detection device 5. Note that the ad hoc wireless communication function refers to a function for establishing a network autonomously by communicating with each other by simply arranging communication terminals having a wireless function. Due to the ad hoc wireless communication function, the transmitting-side intruding object detection device 2 that transmits information also receives another intrusion from the receiving-side intruding object detection device 3 that is the transmission destination of information and is outside its own radio wave reachable range. Information can be transmitted through an object detection device (referred to as a relay intrusion object detection device 4). Further, all the intruding object detecting devices 5 can be the transmitting intruding object detecting device 2, the receiving intruding object detecting device 3, and the relay intruding object detecting device 4.

  Various methods have been devised for realizing the ad hoc wireless communication function. In the present embodiment, the following information transmission processing procedure is used. The information transmission processing procedure described below is realized by storing in advance in all the intruding object detection devices 5. The information transmission processing procedure is not limited to the method described below, and other processing procedures may be used as long as the intruding object detection device 5 can communicate autonomously.

  The information transmission processing procedure is as follows. First, a unique identification number is set in advance for all the intruding object detection devices 5 and stored in the storage device of the sensor node 6. Here, the wireless signal transmitted by the intruding object detection device 5 includes any information of normal information, control information, and route information, and further includes classification information indicating which information is included. Yes. From this classification information, when the intruding object detection device 5 receives the wireless signal, it determines whether the intruding object detection device 5 receives normal information, control information, or route information, and receives the information. It is determined whether the device itself is the transmitting-side intruding object detecting device 2, the receiving-side intruding object detecting device 3, or the relay intruding object detecting device 4, and transmits and receives information.

  Specifically, a sensor network capable of autonomously transmitting and receiving information by storing an intruding object detection program for performing communication between the intruding object detecting devices 5 in the storage device of the sensor node 6 in advance. It is set and information transmission processing is performed. The normal information means general information transmitted by the transmitting-side intruding object detecting device 2, and the control information means that the transmitting-side intruding object detecting device 2 or the relay intruding object detecting device 4 detects the receiving-side intruding object. Information for establishing a relay route that is transmitted to the device 3 is referred to as route information, which is a receiving side that the receiving side intruding object detecting device 3 or the relay intruding object detecting device 4 transmits to the transmitting side intruding object detecting device 2 This refers to information indicating a relay route to the intruding object detection device 3.

  Further, all the intruding object detection devices 5 arranged in the detection area are detected by the transmitting intruding object detecting device 2, the receiving intruding object detecting device 3, or the relay intruding object detection as described above. It can also be a device 4. Since all the intruding object detection devices 5 have an ad hoc wireless communication function, information can be communicated with other intruding object detection devices 5. Accordingly, it is possible to take a flexible route according to the device operating state of the relay intrusion object detection device 4 until the transmission side intrusion object detection device 2 reaches the reception side intrusion object detection device 3. For example, even when the intruding object detection device 5 is disconnected from the network due to a failure, battery exhaustion, or when a new intruding object detection device 5 is added to the network, the network can be easily reconfigured. Is.

  In the present embodiment, with respect to the intruding object detecting device 5 constituting the wireless sensor network, the location information of which identification number of the intruding object detecting device 5 is located in the site is stored in the storage device of the monitoring device 1 in advance. It shall be remembered. By storing the position information in advance, when the intruding object detection device 5 detects the intruding object 14, it is transmitted together with the detection information. This is because the position of the intruding object 14 can be specified by the detected identification number of the intruding object detecting device 5.

  The intruding object detection process (S2) is to detect the intruding object 14 by the intruding object detection device 5 in which the wireless sensor network is constructed. In the present embodiment, the monitoring device 1 serves as a base station as a destination of information transmission from all the intruding object detection devices 5 arranged. The monitoring device 1 determines the magnitude of the output voltage of the collected infrared sensor and detects the intruder's operation.

  FIG. 7 shows an example of the arrangement of the intruding object detection device 5. Note that the circles and fan shapes (1 to 4) around the intruding object detection device 5 indicate the detection ranges of the respective infrared sensors 8 when four infrared sensors 8 are mounted. Reference numeral 1 denotes a monitoring device, 14 denotes an intruding object, here an intruder. In the present embodiment, the plurality of intruding object detection devices 5 are equally arranged on the site where the detection is performed. However, a staggered arrangement configuration may be used to reduce the blind spot of the infrared sensor 8 (FIG. 8). ). In FIG. 7 and FIG. 8, the dead angle exists in order to avoid an overlapping process in which the same intruding object 14 is detected by a plurality of sensors due to overlapping detection ranges of the sensors. is there. This is because the amount of data processing is reduced by avoiding duplicate processing. Therefore, if the overlapping process is performed for the overlapping portion, the arrangement can be made so as to eliminate the blind spot.

  Here, it is known that the output voltage of the infrared sensor 8 varies greatly when the intruding object 14 is detected (FIGS. 14 to 20). In the present embodiment, threshold values are provided for the maximum value and the minimum value of the output voltage, respectively, and it is determined that the intruding object 14 has been detected when a voltage exceeding the threshold value is recorded.

  In the intruding object detection process (S2), the intruding object detection device 5 collects the output voltage of the infrared sensor 8, and the collected data together with the unique identification number stored in advance in each intruding object detection device 5, Transmission to the monitoring device 1 is performed via communication with another intruding object detection device 5. That is, the intruding object 14 is detected by the fluctuation of the output voltage from the infrared sensor 8. Specifically, the detection is performed by the sensor node 6 of the intruding object detection device 5 collecting the output voltage of the infrared sensor 8 at a constant period and transmitting it to the monitoring device by the ad hoc wireless communication function.

  As described above, the monitoring device 1 can determine which intruding object detection device 5 has detected the intruding object 14. Furthermore, in the present embodiment, the intruding object 14 is detected in more detail by using the channel that the sensor node 6 has. For example, when four infrared sensors 8 are mounted on the intruding object detection device 5, one channel of the sensor node 6 can be assigned to each infrared sensor 8, and transmission can be performed using the channels. As a result, the monitoring device 1 determines the information detected by the sensor by the channel in addition to the information transmitted from which intruding object detection device 5 by the identification number of the intruding object detection device 5. Therefore, the detection position can be specified in more detail. Specifically, when the monitoring device 1 receives the detection information of the intruding object 14 from the intruding object detection device 5, it simultaneously determines from the channel information which sensor has detected the detection information. It is assumed to be displayed on the display device of the computer 15 or the like.

  In the present embodiment, the intruding object detection device 5 transmits a radio signal to the monitoring device 1 at regular intervals. For example, a wireless signal is transmitted at a rate of once per second, but the data collection and transmission cycle can be arbitrarily set by parameters. If the data collection and transmission cycle is shortened, detection information can be collected in more detail, so that highly accurate detection can be performed, but power consumption increases accordingly. The intruding object detection device 5 does not transmit a wireless signal at a regular period. For example, when the collected information is judged in the sensor node 6 and exceeds a preset threshold value, the intruding object 14 is detected. It may be determined that a detection has been made, and a radio signal may be transmitted to the monitoring device 1 only in that case.

  In the intruding object tracking process (S3), the data node 6 directly connected to the monitoring apparatus 1 receives the wireless signal transmitted from the intruding object detecting apparatus 5 in the intruding object detecting process (S2), and the storage of the computer 15 is performed. The intruding object 14 is tracked by storing it in the apparatus.

  Specifically, when receiving the wireless signal transmitted from the intruding object detection device 5, the monitoring device 1 determines whether or not the output voltage value of the infrared sensor included in the wireless signal exceeds a set threshold value. When it is determined that the threshold value has been exceeded, the buzzer 18 and the lamp 19 are sounded by the computer 15, and which infrared sensor 8 of which intruding object detection device 5 has reacted is displayed on the output device of the computer. The detection position of the object 14 is specified. Further, when the output voltage value of the infrared sensor included in the wireless signal does not exceed the set threshold value, the reception of the next wireless signal transmitted from the intruding object detection device 5 is awaited as it is. At the same time, the monitoring device 1 stores the output voltage value of the infrared sensor included in the wireless signal transmitted from the intruding object detection device 5 in an auxiliary storage device of the computer 15 or the like. The alarm is not necessarily issued by the buzzer 18 or the lamp 19 and may be issued by the computer 15. Further, the detection information may be transmitted to a remote place through a network such as a LAN. In addition, for example, the monitoring device 1 may be connected to a large monitoring panel in a monitoring room such as a substation to send detection information.

  Furthermore, by recording time information such as detection information and detection time in an auxiliary storage device of the computer 15, the behavior of the intruder can be traced temporally. For example, the movement of the intruder can be grasped in real time by displaying the tracking status on the output device. Further, for example, a printer or the like may be connected to the computer 15 so that the tracking information can be printed (FIG. 22). In addition, by recording detection information as a log in an auxiliary storage device or the like, it is possible to analyze the behavior of an intruder.

  Next, an example of processing executed by the intruding object detection device 5 by the intruding object detection program according to the present embodiment will be described with reference to the flowcharts shown in FIGS.

  FIG. 2 shows a processing flow when the intruding object detection device 5 transmits normal information in the sensor network setting processing (S1). First, a normal information transmission request is generated (S101). It is determined whether route information to the receiving-side intruding object detection device 3 is stored in the storage device of the transmitting-side intruding object detection device 2 (S102), and when it is determined that it is stored (S102: Yes) The stored route information to the receiving-side intruding object detection device 3 is attached to the normal information and transmitted (S103). Further, when it is determined that it is not stored (S102: No), in order to acquire route information to the receiving-side intruding object detection device 3, the identification number of the transmitting-side intruding object detection device 2 as the transmission point, the purpose Control information in which the identification number of the receiving-side intruding object detection device 3 is recorded as a ground is transmitted (S104), and normal information is transmitted as a radio signal (S105). Thus, the processing when the intruding object detection device 5 transmits the normal information ends.

  Next, FIG. 3 shows a processing flow when the intruding object detection device 5 receives a radio signal in the sensor network setting processing (S1). First, a radio signal is received (S201). Whether the received radio signal is control information, route information, or normal information is determined from the classification information (S202).

  When the control information is determined here (S202: control information), the control information is received from the radio signal (S203), and the identification number of the receiving-side intruding object detection device 3 included in the control information as the destination is previously set. It is determined whether or not it matches the stored identification number. If they match (S204: Yes), the intruding object detection device 5 itself that has received the control information becomes the receiving-side intruding object detection device 3, and the identification number group of the relay intruding object detection device 4 included in the control information is used as route information. Transmission is performed to the transmitting-side intruding object detection device 2 (S205), and the process proceeds to S207. If they do not match (S204: No), the intruding object detection device 5 itself is not the receiving-side intruding object detection device 3, so that it becomes the relay intruding object detection device 4 and is stored in advance in the received control information as a passage route. And the control information is transmitted (S206). Finally, control information or route information is transmitted as a radio signal (S207).

  If it is determined as route information (S202: route information), the route information is received from the radio signal (S208), and the identification number of the transmitting intruding object detection device 2 included in the route information is stored in advance. It is determined whether or not the identification number matches (S209). If they match (S209: Yes), the intruding object detecting device 5 itself that has received the path information becomes the transmitting intruding object detecting device 2, and the received receiving intruding object is received. The route information to the detection device 3 is stored in the storage device (S210), and the process ends. If they do not match (S209: No), the intruding object detection device 5 itself is not the transmitting-side intruding object detection device 2, so that an identification signal stored in advance in the route information is next. It is determined whether it is included (S211). If it is not included (S211: No), the process ends. If it is included (S211: Yes), the intruding object detection device 5 itself becomes the relay intruding object detection device 4, so that the received route information is displayed. It transmits as it is (S212), transmits the route information as a radio signal (S213), and ends.

  If the normal information is determined (S202: normal information), the normal information is received from the radio signal (S214), and the destination identification number of the route information included in the normal information matches the identification number stored in advance. Judge whether or not. If they match (S215: Yes), the receiving-side intruding object detection device 3 is used, so that information is received. If they do not match (S215: No), the intruding object detection device 5 is not the receiving-side intruding object detection device 3, and therefore the path number included in the normal information includes an identification number stored in advance. To determine whether or not If it is included (S216: Yes), the intruding object detection device 5 itself becomes the relay intruding object detection device 4, so that the received normal information is transmitted as it is (S217) and is transmitted as a radio signal (S218). If not included (S216: NO), the intruding object detecting device 5 itself is not included in the relay intruding object detecting device 4 from the transmitting intruding object detecting device 2 to the receiving intruding object detecting device 3. The process ends. This is the end of the processing when the intruding object detection device 5 receives a wireless signal.

  FIG. 10 is a flowchart showing the intruding object detection process (S2) and the intruding object tracking process (S3). The intruding object detection device 5 periodically collects the output voltage of the infrared sensor 8 and transmits it to the monitoring device 1 by the ad hoc wireless communication function (S301). (Hereinafter, a wireless signal including output voltage information of the infrared sensor 8 transmitted by the intruding object detection device 5 is referred to as sensor information.) The monitoring device 1 receives the sensor information transmitted from the intruding object detection device 5. When the sensor information is received after waiting (S302), it is determined whether the output voltage value of the infrared sensor 8 included in the sensor information exceeds a set threshold value. When it is determined that the threshold value has been exceeded (S303: Yes), the buzzer 18 and the lamp 19 are sounded, and the infrared sensor 8 is identified on the output device of the computer 15, and the position of the intruding object 14 is displayed. (S304). When the threshold value is not exceeded (S303: No), it waits for the reception of sensor information transmitted from the intruding object detection device 5 again (S302). At the same time, the output voltage value of the infrared sensor 8 included in the sensor information transmitted from the intruding object detection device 5 is stored in an auxiliary storage device of the computer 15 or the like. Thus, the intruding object behavior tracking process ends. This makes it possible to track the behavior of the intruder in time.

  Next, FIGS. 11 to 12 show a second embodiment of the intruding object detection method and apparatus and program of the present invention.

  Since the intruding object detection device 5 periodically collects and transmits the output voltage value of the infrared sensor by the ad hoc wireless communication function, power consumption is intense. In this embodiment, since the action of the intruding object 14 is tracked by the small intruding object detection device 5, it is essential to extend the life of the operation power supply. In particular, when a dry battery is used as an operating power source, a battery replacement operation or the like occurs, which is a problem.

  If all the intruding object detection devices 5 installed in the site where detection is performed are always in a state where output voltage is collected and transmitted to a monitoring device (hereinafter referred to as an activated state), the battery is consumed quickly and the cost is reduced. Will take. However, in view of the fact that intruders in substations and the like are rare, it is not always necessary for all intruding object detection devices 5 to collect and transmit the output voltage of the infrared sensor. When entering the site to be performed, only the intruding object detection device 5 installed at the first passing position needs to be activated. That is, it is not always necessary for all the intruding object detection devices 5 to be in the activated state, and it is desirable that the activated object detection device 5 be activated when necessary.

  Therefore, in this embodiment, the intruding object detection device 5 is in a state (hereinafter referred to as a standby state) in which the output voltage of the infrared sensor 8 is not normally collected and transmitted to the monitoring device (hereinafter referred to as a standby state). We are trying to reduce consumption. Hereinafter, the case where the intruding object detection device 5 is in the activated state is referred to as an intruding object detecting device 20 in the activated state, and the case in which the intruding object detecting device 5 is in the waiting state is referred to as an intruding object detecting device 21 in the waiting state.

  The intruding object detection device 20 in the activated state collects the output voltage of the infrared sensor 8 at regular intervals and transmits it to the monitoring device 1. In this embodiment, when the monitoring device 1 determines that the output voltage value exceeds the set threshold value, the buzzer 18 and the lamp 19 are sounded, and the monitoring device is directed toward all the intruding object detection devices 21 in the standby state. An activation command is transmitted to release the standby state of the intruding object detection device 21 in the standby state. The intruding object detection device 20 in the activated state determines whether the activation command from the monitoring device has not been received for more than 5 minutes, and returns to the standby state if it is determined that it has not been received. This processing is an example of processing, and is not limited to this. For example, the set time for returning from the activated state to the standby state is a parameter and can be arbitrarily set.

  FIG. 11 shows an example of an arrangement example of the intruding object detection device 5 in the second embodiment. In the present embodiment, among the arranged intruding object detection devices 5, the one arranged at the outermost periphery is the intruding object detecting device 20 in the activated state, and the others are the intruding object detecting device 21 in the standby state. Yes. Then, when the intruding object detection device 20 arranged on the outer periphery in the activated state detects the intruder 14, the activation command is transmitted from the monitoring device 1 to the intruding object detecting device 21 in the standby state, and the activated state is started from the standby state. It is supposed to be. The activation command may be transmitted to all the intruding object detection devices 21 in the standby state, but if necessary, the intruding object detection device in the standby state around the detected intruding object detection device 20 in the activation state. It is also possible to transmit only to 21. Further, for example, when the detection area is divided into a plurality of areas in advance and the intruding object detection device 20 in the activated state detects the intruding object 14, another waiting state intruding object detection device 21 in the same area is detected. An activation command may be transmitted to

  With such an arrangement method, power consumption of the intruding object detection device 5 can be reduced. It should be noted that how the intruding object detection device 20 in the activated state and the intruding object detection device 21 in the standby state are arranged can be arbitrarily set in advance. For example, if it is in a site with an entrance, only the intruding object detection device 5 near the entrance is activated, and when an intruder is detected, the other intruding object detection device 21 in the standby state is activated. By doing so, power consumption can be reduced. In addition, the power supply can be easily replaced because it is only necessary to replace the power supply of the intruding object detection device 20 that is always activated.

  Next, an example of processing executed by the intruding object detection device 5 by the intruding object detection program according to the present embodiment will be described with reference to the flowchart shown in FIG. FIG. 12 is a flowchart showing standby and activation processing of the intruding object detection device 5.

  The intruding object detection device 20 in the activated state periodically collects the output voltage of the infrared sensor 8 and transmits it to the monitoring device 1 (S401). The monitoring device 1 waits for the reception of the wireless signal transmitted from the intruding object detection device 5 and receives the wireless signal (S402). When the monitoring device 1 receives the wireless signal (S402), the threshold value set by the output voltage value of the infrared sensor 8 included in the wireless signal It is determined whether or not the intruding object 14 has been detected (S403). If it is determined that the threshold value has been exceeded (S403: Yes), the buzzer 18 and the lamp 19 are sounded, the infrared sensor 8 is identified on the display device of the computer 15, and the position of the intruding object 14 is displayed. If it is determined that the threshold value has not been exceeded (S403: No), it waits for reception of a radio signal transmitted from the intruding object detection device 5 as it is. At the same time, the output voltage value of the infrared sensor 8 included in the radio signal transmitted from these intruding object detection devices 5 is stored in the storage device of the computer 15. When it is determined that the threshold value has been exceeded (S404: Yes), an activation command is transmitted to all the intruding object detection devices 5 by the ad hoc wireless communication function (S406), and the standby state of the intruding object detection device 21 in the standby state is determined. To release. This activation command is always transmitted every time the movement of the intruding object 14 is detected.

  The intruding object detection device 21 in the standby state remains in the standby state (S405) and waits for an activation command. When it is determined that the activation command has been received (S406: Yes), the activation state is entered (S407). If the activation command has not been received (S406: No), the activation command is waited in the standby state. The intruding object detection device 20 in the activated state periodically collects the output voltage of the infrared sensor 8 and transmits it to the monitoring device 1 (S407). It is determined whether or not an activation command from the monitoring device 1 has been received for 5 minutes or more. If it is determined that the activation command has not been received (S408: No), the process returns to the standby state again. If it is determined that an activation command has been received (S408: Yes), the activation state is continued, and the output voltage of the infrared sensor 8 is continuously collected and transmitted to the monitoring device 1. Above, the standby | waiting and starting process of the intruding object detection apparatus 5 in this embodiment are complete | finished.

  In addition, the position of the intruding object 14 can be specified by installing an embedded device such as a wireless tag (RFID) in advance in the site where the detection is performed instead of the intruding object detecting device 5. For example, if the position information of the wireless tag is known, the ID number can be acquired from the wireless tag adjacent to the intruding object 14 and the position of the intruding object 14 can be specified.

  In addition, the present invention is a technique (RSSI method) that can measure the distance to an object by transmitting / receiving to / from a sensor node installed in advance if a sensor node can be attached to the object to be detected in advance. In addition, by using the Toa method or the like, it is possible to specify the exact position of the object by measuring the distance between the sensor node installed in advance and the sensor node attached to the object. For example, in a site of a power plant, it can be realized by providing a sensor node in advance in some form to a worker or the like. For example, by attaching it to work clothes or the like, it becomes possible to accurately grasp the position of the worker within the site, and therefore, it can be applied to tracking the behavior of the worker.

Example 1
As an intruding object detection apparatus using an infrared sensor, an intruding object detection apparatus was created using MOTE and an infrared sensor. There are two types of terminals, “MICA” and “DOT”, in MOTE. With “DOT”, any sensor can be connected and up to six pieces of sensor information can be transmitted. In this experiment, “DOT” was used as the prototype node in order to connect the infrared sensor to the MOTE. Table 1 shows the specifications of MOTE (DOT). Table 2 shows the specifications of the infrared sensor used in this experiment.

  Since the input / output voltage of the infrared sensor is different from the input / output voltage of the MOTE, a separate battery box was installed for the infrared sensor at the prototype node. In addition, the output voltage of the infrared sensor is divided by half so that it can be input to the MOTE. Furthermore, in order to give the expandability of the prototype intruding object detection device, a connector is used so that any sensor other than the infrared sensor can be connected. These parts were stored in a polyethylene container of 14 cm × 12 cm × 7 cm. FIG. 14 shows an example of a prototype intruding object detection device. In addition, the prototype intrusion object detection device collects the output voltage of each infrared sensor once per second and transmits the collected data to the base station by multi-hop communication. Multi-hop communication refers to communication that connects to each other without the intervention of an access point.

  Next, an experiment was conducted on detection accuracy using a prototype intruding object detection device. One infrared sensor was connected to the prototype intruding object detection device, and the detection accuracy was confirmed by the magnitude of the operation. Changes in the sensor output voltage were measured at 3 m, 5 m, and 7 m toward the front of the sensor during normal times (no movement), when waving, stepping, or jumping on the spot. In this experiment, all the prototype intruding object detection devices were placed on the lawn ground. The weather was sunny.

  FIG. 15 shows an example of the output voltage of the infrared sensor. During normal times when no human movement was detected, the output voltage varied between 1000 mV and 1700 mV. In addition, in a small operation of simply waving one hand, no significant fluctuation was observed at a distance of 3 m or more. It was found that the sensor responds sufficiently when a large motion such as stepping or jumping is performed, but the response tends to become dull as the distance increases.

  Next, on the premise of human movement tracking, we conducted a more detailed detection experiment when stepping on. Similarly, one infrared sensor was connected to the prototype intruder detection device, and the detection accuracy of the infrared sensor was confirmed by the difference in position. FIG. 16 shows the positional relationship between the location of the prototype intruding object detection device and the operating point where the stepping motion was performed. The encircled numbers in the figure represent the operation points, and the operation points are provided at intervals of 2.5 m centering on the prototype intruding object detection device. Note that the grid in the drawing is described for convenience in order to visually determine the detection area. Then, stepping motion was performed in the order of the operation point numbers, and the output voltage of the infrared sensor was collected.

  FIG. 17 shows the experimental results. The fan-shaped shaded portion (FIG. 16) indicates an area where it is assumed that human motion is detected from the specifications of the infrared sensor. It can be seen that the sensor is operating largely at the operating point 10 and the operating point 17 that are in front of the sensor, but it was also found that it is operating near the operating point 24 that is 7.5 m away from the sensor. Therefore, in order to accurately detect a human action, it is important to set a threshold value for the output voltage. For the purpose of sensitively detecting even a small operation, the threshold value may be determined with a margin, but the detection area is increased accordingly. On the other hand, even if the detection accuracy becomes severe, there are cases where it is desired to determine the detection area of the sensor as strictly as possible. The purpose of this experiment is to prevent humans from approaching dangerous parts in a power plant or the like, so it is desirable to strictly categorize the detection area of the infrared sensor. Therefore, experiments were performed with different threshold values, and the detection areas were compared. FIGS. 18A to 18C show the results of an experiment in which detection areas are compared while changing the threshold value. In FIG. 18A, the threshold is set to a maximum value of 1800 mV and a minimum value of 800 mV. In FIG. 18B, the threshold is set to a maximum value of 2100 mV and a minimum value of 500 mV. In FIG. The threshold value was set to a maximum value of 2400 mV and a minimum value of 200 mV. However, in this experiment, since the output voltage of the infrared sensor is collected only once per second, the maximum value and the minimum value of the fluctuating output voltage are not necessarily collected. Therefore, the threshold value is set for both the maximum value and the minimum value to further increase the detection accuracy.

  In FIGS. 18A to 18C, shaded portions indicate areas where the output voltage value exceeds the set threshold value and it is determined that a human motion has been detected. The tighter the threshold, the narrower the area where human motion can be detected. By setting the threshold value with the maximum value being 2400 mV and the minimum value being 200 mV, it was possible to obtain detection accuracy almost in accordance with the specifications of the infrared sensor (FIG. 18C).

  Next, an experiment was conducted on how the infrared sensor detects when a person actually moves. FIG. 19 shows an example of an experiment of detection accuracy when a person moves. The same four straight lines on each operating point as shown in FIG. 16 were moved laterally at a speed of 1 m / s. FIGS. 20A to 20C show areas where it is determined that the operation has been detected because the output voltage exceeds the threshold when each threshold is set. In FIG. 20A, the threshold value is set to a maximum value of 1800 mV and a minimum value of 800 mV. In FIG. 20B, the threshold value is set to a maximum value of 2100 mV and a minimum value of 500 mV. In FIG. The threshold value was set to a maximum value of 2400 mV and a minimum value of 200 mV. Also in this experiment, the output voltage of the infrared sensor was collected once per second.

  As a result, compared with the experimental result shown in FIG. 18, the human movement at a far point was detected. This is considered to be because the output voltage of the infrared sensor has greatly fluctuated because it moves more than the stepping that a person moves. On the other hand, particularly in the case of FIG. 20 (c), there is a case where a human motion is not detected even within the detection area according to the specification of the infrared sensor. This is probably because the output voltage of the sensor fluctuated greatly, but it did not happen to exceed the threshold due to the timing of data collection. Therefore, in order to detect the movement operation, it is considered necessary to slightly relax the threshold value when staying in one place. In this experiment, it was found that by setting the threshold to a maximum of 2100 mV and a minimum value of 500 mV, the detection area can be closest to the specification of the infrared sensor.

  Next, a plurality of intruding object detection devices were actually arranged, and an experiment was conducted to determine whether or not the position can be accurately tracked in accordance with the movement of a person. FIG. 21 shows an example of the experiment. In this experiment, six prototype intruding object detection devices were arranged, and a human moved on the set line (thick line) at a speed of 1 m / s. The output voltage of the infrared sensor of each intruding object detection device was collected at a cycle of once per second and transmitted toward the base station. The circled numbers in FIG. 21 represent the identification numbers of the respective intruding object detection devices, and the intruding object detection devices were installed in a grid at intervals of 10 m. The intruding object detection device is equipped with four infrared sensors so that the surroundings can be detected every 90 °.

  Here, the fan shape around the intruding object detection device represents a detection area in the specification of the infrared sensor. In MOTE, it is possible to transmit arbitrary sensor information using channels 2 to 7. In this experiment, channels 2 to 5 were used. In addition, a base station MOTE and a computer were installed, and information was transmitted and collected in multiple hops using an automatic network construction function between sensor nodes.

  The threshold value of the output voltage was set to 2100 mV at the maximum and 500 mV at the minimum. When the output voltage of the infrared sensor of each sensor node exceeds a threshold value, it is determined that a human motion has been detected. FIG. 22 shows an example of the experimental results. The node ID in the figure indicates the identification number of the intruding object detection device. From the experimental results, for example, in the intruding object detecting device with identification number 1 from the time 0:30 to 10:00 when it moved around, and in the intruding object detecting device with identification number 3, the time is 1:20 to 1. : It can be clearly seen that the output voltage of each infrared sensor of each intruding object detection device fluctuates greatly until 50, and human motion is well detected. The elapsed time is indicated in minutes: seconds. In other parts as well, it can be seen that the infrared sensor of each sensor node reliably detects the movement of the person in accordance with the actual movement of the person in FIG. In this way, by collecting the output voltage of the infrared sensor by the wireless sensor network and recording and alarming when the set threshold value is exceeded, it is possible to detect the intruder of the substation and the guidance path of the substation visitor. It was confirmed that it can be used practically for tracking human behavior such as deviation detection. Moreover, although the size and body temperature of the target are different from those of humans, it can be applied to the behavior tracking of small animals. It was also found that information collection and position specification that are not normally performed can be easily performed.

  In addition, by collecting the output voltage of the infrared sensor and recording and alarming when the threshold value is set appropriately, human behavior tracking such as intruder detection at the substation and guidance of the visitor at the substation is performed. It was confirmed that it was sufficiently practical. Although the size and temperature of the target are different from those of humans, this can also be used for behavior tracking of small animals.

It is a figure which shows the outline | summary of an ad hoc radio | wireless communication function. It is a flowchart showing an example of the process sequence at the time of the normal information transmission request generation of a communication terminal. It is a flowchart showing an example of the process sequence at the time of the radio signal reception of a communication terminal. It is a figure which shows an example of a structure of an intruding object detection apparatus. It is a figure which shows an example of a structure of the sensor node part of an intruding object detection apparatus. It is a figure which shows the detection range of the infrared sensor attached to an intruding object detection apparatus. It is a figure which shows an example of the arrangement | positioning method of an intruding object detection apparatus. It is a figure which shows an example of the arrangement | positioning method of an intruding object detection apparatus. It is a figure which shows an example of a structure of a monitoring apparatus. It is a flowchart which shows an example of the behavior tracking method of an intruding object. It is a figure which shows an example of the arrangement | positioning method of the intruding object detection apparatus in 2nd embodiment. It is a flowchart which shows an example of the stand-by and starting method of an intruding object detection apparatus. It is a flowchart of the intruding object tracking method. It is an image which shows an example of an intruding object detection apparatus. It is a graph which shows an example of the output voltage result of an infrared sensor. It is a figure which shows an example of the detectable area of an infrared sensor. It is a graph which shows an example of the output voltage of an infrared sensor. It is a figure which shows an example of the detection area of an infrared sensor, (a) shows a detection determination area in the case of a threshold value, maximum value 1800 mV, and minimum value 800 mV, (b) shows a threshold value, maximum value 2100 mV, and minimum value 500 mV. (C) shows the detection determination area in the case of the threshold value, the maximum value 2400 mV, and the minimum value 200 mV. It is a figure which shows an example of the detection accuracy of the infrared sensor of an infrared sensor. It is a figure which shows an example of the detection area of an infrared sensor, (a) shows a detection determination area in the case of a threshold value, maximum value 1800 mV, and minimum value 800 mV, (b) shows a threshold value, maximum value 2100 mV, and minimum value 500 mV. (C) shows the detection determination area in the case of the threshold value, the maximum value 2400 mV, and the minimum value 200 mV. It is a figure which shows an example of the experiment of person tracking by an intruding object detection apparatus. It is the figure which showed an example of the experiment result of the person tracking in FIG.

Explanation of symbols

6 Sensor node 8 Infrared sensor 14 Intruding object

Claims (22)

  A wireless sensor installed between a sensor node having an ad hoc wireless communication function, which is installed in advance in a detection area, and whose position information is known, between communication terminals including at least one sensor, and between the communication terminal and the base station A network is configured, and the base station extracts intrusion object detection information from a radio signal transmitted from the communication terminal to the base station, and determines which communication terminal the wireless signal is transmitted from. An intruding object detection method comprising detecting the position of an intruding object by performing.   2. The intrusion according to claim 1, wherein the base station records the detection information received by the intruding object detection method, and tracks an action after detecting the intruding object from a detection position of the intruding object every time. Object detection method.   The intruding object detection method according to claim 1, wherein the sensor is an infrared sensor.   The intruding object detection method according to claim 1, wherein the sensor is a UWB sensor.   The intruding object detection method according to claim 1, wherein the sensor is an ultrasonic sensor.   The intrusion according to any one of claims 1 to 5, wherein a plurality of the sensors are arranged in a horizontal direction and are arranged in different vertical directions so that all directions in a three-dimensional direction are set as a detection range. Object detection method.   The said sensor node has a some channel, allocates a channel for every said sensor, and transmits channel information to the said base station with the said detection information in any one of Claim 1 to 6 characterized by the above-mentioned. Intruder detection method.   The base station determines that an intruding object has been detected when a wireless signal having information in which the magnitude of fluctuation in output voltage from the sensor exceeds a preset threshold is received from the sensor node. The method for detecting an intruding object according to any one of claims 3 to 5.   The communication terminal is in a standby state in a normal state, enters a standby state from a standby state when receiving a startup command from a base station, and returns to a standby state when there is no startup command for a certain period of time. Item 9. The intruding object detection method according to any one of Items 1 to 8.   The communication terminal always activates only the communication terminals arranged on the outer periphery of the detection area, and when the communication terminal detects an intruder, the base station is in another standby communication terminal as necessary. The intruding object detection method according to claim 1, wherein an activation command is transmitted to the intrusion object.   A wireless sensor installed between a sensor node having an ad hoc wireless communication function, which is installed in advance in a detection area, and whose position information is known, between communication terminals including at least one sensor, and between the communication terminal and the base station A network is configured, and the base station extracts intrusion object detection information from a radio signal transmitted from the communication terminal to the base station, and determines which communication terminal the wireless signal is transmitted from. An intruding object detection device that detects the position of an intruding object by performing it.   12. The intrusion object detection according to claim 11, wherein the base station records the detection information received by the intrusion object detection method, and tracks an action after detecting the intrusion object from a detection position of the intrusion object every hour. apparatus.   The intruding object detection device according to claim 11, wherein the sensor is an infrared sensor.   The intruding object detection device according to claim 11, wherein the sensor is a UWB sensor.   The intruding object detection device according to claim 11, wherein the sensor is an ultrasonic sensor.   The intruding object detection according to any one of claims 11 to 15, wherein a plurality of the sensors are arranged in a horizontal direction and are arranged in a plurality of different vertical directions to detect all directions in a three-dimensional direction. apparatus.   The intruding object according to any one of claims 11 to 16, wherein the sensor node has a plurality of channels, assigns a channel to each sensor, and transmits channel information to the base station together with the detection information. Detection device.   The base station determines that an intruding object has been detected when a wireless signal having information whose magnitude of fluctuation in output voltage from the sensor exceeds a preset threshold is received from the sensor node. The intruding object detection device according to any one of claims 13 to 15.   12. The communication terminal is normally in a standby state, is switched from a standby state when receiving an activation command from a base station, and returns to a standby state when there is no activation command for a certain period of time. 18. The intruding object detection device according to any one of items 18 to 18.   The communication terminal always activates only the communication terminals arranged on the outer periphery of the detection area, and when the communication terminal detects an intruder, the base station is in another standby communication terminal as necessary. The intruding object detection device according to any one of claims 11 to 18, wherein the intrusion object detection device transmits an activation command.   A radio that includes an ad hoc wireless communication function whose position information is known and a radio signal transmitted by a communication terminal equipped with at least one sensor and whose output voltage fluctuation exceeds a preset threshold. From the means for extracting the signal as detection information of the intruding object and storing the detection information in the storage device, and the identification number of the communication terminal included in the wireless signal, the information transmitted from any communication terminal An intrusion characterized in that the computer functions as means for determining whether or not there is a communication terminal corresponding to the identification number stored in advance, and for identifying the position of the intruding object Object detection program.   An identification number of the communication terminal that has detected an intruding object from the detection information received from the communication terminal, a means for storing the time information at which the detection information is received in a storage device over a certain period of time, and an intrusion every hour The intruding object detection program according to claim 21, wherein the computer is caused to function as means for tracking an action in the intruding object detection area by displaying an object detection position on the output device.