CN108038949B - Access control system, access control robot and operation method thereof - Google Patents
Access control system, access control robot and operation method thereof Download PDFInfo
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- CN108038949B CN108038949B CN201711441683.4A CN201711441683A CN108038949B CN 108038949 B CN108038949 B CN 108038949B CN 201711441683 A CN201711441683 A CN 201711441683A CN 108038949 B CN108038949 B CN 108038949B
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
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- G07C9/32—Individual registration on entry or exit not involving the use of a pass in combination with an identity check
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Abstract
The invention discloses an access control robot system operation method, which comprises the following steps: detecting that one or more key areas on an input panel are pressed by fingers of a user at the same time; measuring and recording the area of each key area pressed by the finger of the user; measuring and recording partial fingerprints of the user fingers in each key area; for each key area, combining the measured partial fingerprint with the area pressed by the finger of the user to form a fingerprint code of each key area; the fingerprint codes of all the key areas are connected in series to form a total fingerprint code pressed once; and serially connecting the total fingerprint codes pressed each time to form an input password of the access control system. According to the access control robot and the operation method thereof, the input habit of the user is utilized, fingerprints crossing different key areas on the input panel are combined according to the area and the input sequence to obtain the composite password, so that the stealing and replacing can be effectively prevented, and the safety is improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to an access control system, an access control robot and an operation method thereof, wherein the access control system can prevent illegal brushing or brushing instead of brushing so as to improve safety.
Background
With the development of robot technology, robots are applied to various fields, and existing robots are classified into two types, i.e., industrial robots and special robots. Industrial robots are multi-joint robots or multi-degree-of-freedom robots for industrial applications. And the special robot is various advanced robots for non-manufacturing industry and serving human beings, in addition to the industrial robot, including: underwater robots, entertainment robots, military robots, agricultural robots, robotized machines, and the like. The service robot is often used in service industries such as guest reception, tour guide service and advertising in places such as banks, shopping malls, restaurants and the like, can set working modes such as guest reception, inquiry, meal delivery, payment and entertainment, has the characteristic of intelligently replacing manpower, has the function of human interaction, has better pleasure and attraction for customers or clients compared with a waiter in life, can bring brand new service experience to the customers or clients, and can save the labor cost of merchants; the system can meet the requirement of long-time work and ensure high-quality service, avoids the condition that the satisfaction of a customer or a client is reduced due to fatigue caused by long-time work of manual service, and greatly improves the working efficiency.
One important application of service robots is in conjunction with access control systems to provide security functions for a facility, i.e., access control robots or security robots. The existing access control system or access control robot usually adopts password or fingerprint identification to judge the identity of the visitor. In the process of inputting the password, if authorized or authenticated personnel do not pay attention to actively shielding an input key region or a malicious intruder installs a candid camera in advance, the password input by a visitor is easy to steal and leak. The fingerprint identification technology can improve the security of the access control system to a certain extent by collecting and comparing single or multiple fingerprints of visitors, however, malicious intruders or attendance personnel can still adopt resin to perform reverse mold on the fingerprints of authorized and authenticated users to obtain user fingerprint films, so as to cheat the credit of the access control system.
The identity of a visitor can be judged by face recognition through another access control system, however, the existing silica gel reverse model can also be designed for a user, the method for judging the identity of the user by utilizing the geometric position relation among a few characteristic points on the face is easy to deceive by silica gel fillers, and the safety is still low.
The entrance guard system with higher safety can adopt advanced technologies such as retina, iris recognition, DNA recognition and the like, however, the technologies are huge in cost, and a user needs to actively provide more physiological information, so that the privacy of the user is not protected, the comfort and trust degree of the user are reduced, and the popularization of the entrance guard system is not facilitated.
Disclosure of Invention
Accordingly, an object of the present invention is to provide an entrance guard system, a robot, and an operation method thereof, which can efficiently prevent embezzlement or replacement of unauthorized brushing and improve safety at a low cost.
The invention provides an access control system operation method, which comprises the following steps:
detecting that one or more key areas on an input panel are pressed by fingers of a user at the same time;
measuring and recording the area of each key area pressed by the finger of the user;
measuring and recording partial fingerprints of the user fingers in each key area;
for each key area, combining the measured partial fingerprint with the area pressed by the finger of the user to form a fingerprint code of each key area;
the fingerprint codes of all the key areas are connected in series to form a total fingerprint code pressed once;
and serially connecting the total fingerprint codes pressed each time to form an input password of the access control system.
Wherein the user's fingers press a maximum of three key areas simultaneously.
And the fingerprint codes of all the key areas are connected in series according to the increasing or decreasing order of the areas.
Wherein, the total fingerprint code of single pressing contains the position filling code so that each time total fingerprint code length equals.
Wherein the complementary bit code comprises one or more of: 0, 1, the ratio of the average value of the pressing pressure to a preset reference value, and the normalized value of the area of each key area.
The invention also provides an access control system for executing the method, which comprises the following steps:
an input panel for displaying a virtual keyboard and detecting user input within a key region, comprising:
the piezoelectric sensor unit is used for detecting that one or more key areas on the input panel are pressed by fingers of a user at the same time and measuring the area of each key area pressed by the fingers of the user;
the photoelectric sensor unit is used for measuring partial fingerprints of the fingers of the user in each key area; and
the processor is used for combining the measured partial fingerprints and the areas pressed by the fingers of the user to form fingerprint codes of all the key areas, connecting the fingerprint codes of all the key areas in series to form a total fingerprint code pressed once, and connecting the total fingerprint codes pressed once in series to form an input password of the access control system;
and the memory is used for recording the fingerprint code of each key area, the total fingerprint code of single pressing and the input password.
The input panel further comprises a plurality of spacers surrounding each key area.
Wherein further piezoelectric sensors are included on and/or under the plurality of spacers to measure the pressure experienced by the plurality of spacers.
Wherein, a dam is arranged between the piezoelectric sensor unit and the photoelectric sensor unit.
The invention also provides an access control robot, which adopts the access control system.
According to the access control robot and the operation method thereof, the input habit of the user is utilized, fingerprints crossing different key areas on the input panel are combined according to the area and the input sequence to obtain the composite password, so that the stealing and replacing can be effectively prevented, and the safety is improved.
The stated objects of the invention, as well as other objects not listed here, are met within the scope of the independent claims of the present application. Embodiments of the invention are defined in the independent claims, with specific features being defined in the dependent claims.
Drawings
The technical solution of the present invention is explained in detail below with reference to the accompanying drawings, in which:
fig. 1 shows a schematic view of an access control robot system according to an embodiment of the present invention;
fig. 2a shows a cross-sectional view of an input panel of an access control robot according to an embodiment of the present invention;
fig. 2b is a schematic view illustrating an interface for inputting a password of the access control robot according to an embodiment of the present invention;
fig. 3 shows a password field structure diagram of an access control robot according to an embodiment of the present invention; and
fig. 4 shows a flowchart of an operation method of the access control robot system according to an embodiment of the present invention.
Detailed Description
The features and technical effects of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and exemplary embodiments, and an access control system, a robot, and an operating method thereof are disclosed, which can efficiently prevent embezzlement or replacement of unauthorized access to improve security. It is noted that like reference numerals refer to like structures and that the terms "first," "second," "upper," "lower," and the like as used herein may be used to modify various system components or method steps. Such modifications do not imply a spatial, sequential, or hierarchical relationship to the modified system components or method steps unless specifically stated.
As shown in fig. 1, the access control robot according to the embodiment of the present invention includes: the high-sensitivity microphone 1 is positioned at the top of the head and used for collecting or receiving sound information of the surrounding environment or voice information of personnel; the high-definition camera 2 is positioned at the forehead and is used for collecting or receiving topological structure information (such as bone contour) of the face of the person; expression sensors 3A and 3B located at the eyes for capturing facial details of the person (e.g., dynamic changes of iris, retina, eyebrow or canthus, degree of smiling reflected by lips or teeth, slight twitching of ears or nose tip) to reflect biological information or emotional information of the person; touch sensors located at various parts of the robot, including a chin touch sensor 4, an abdomen touch sensor 7, a vertex touch sensor 10, a left/right ear touch sensor 12A/12B, a hindbrain touch sensor 13, a left/right shoulder touch sensor 15A/15B and a hip touch sensor 17, and the touch sensors are used for recognizing the tactile interaction with the user so as to improve the accuracy of recognition of the identity or emotion of the user and provide stress information in contact with limbs of the user to feed back and modify the movement/rotation parameters of the body of the robot; the 3D depth camera 5 is positioned at the neck and used for collecting depth information of surrounding scenes; a chest-positioned input panel 6 for displaying virtual key regions (as shown in fig. 2 b) and scanning with built-in photo-sensors under the panel to obtain fingerprints or parts of fingerprints in the respective key regions; the 2D laser radar 8 is positioned on the lower abdomen and used for measuring the distance between the robot and a user or other moving objects in a scene and assisting in judging the height, the moving speed, the static/walking postures of the limbs and the like of the object; the omnidirectional moving wheel 9 is positioned on the foot and used for driving the whole robot to move along a pre-stored or real-time judgment selected path; a speaker 11A/11B located at the ear for delivering voice and audio information to the user; an emergency stop switch 14 located at the back for emergency stop of the movement or action of the robot, which is convenient for improving safety; a start button 16 positioned at the back waist part and used for manually starting an operating system of the access control robot to provide reception and consultation services; a hand biosensor 18 located at the hand for collecting a user's fingerprint, measuring a moisture content (resistivity) or roughness of the user's skin, measuring a stress of a handshake with the user, measuring an oxygen content of a user's pulse or capillary, etc.; a charging interface 19 on the side of the leg and a power switch 20 on the back of the leg.
Fig. 2a shows a cross-sectional view of an input panel of an access control robot according to an embodiment of the present invention, and fig. 2b shows a schematic view of a password input interface of the access control robot according to an embodiment of the present invention.
In particular, for the input panel 6 shown in fig. 1, which comprises a bottom glass or plastic substrate 6a, a top transparent flexible cover 6c of plastic or resin material, and a plurality of spacers 6b (for providing support between the substrate and the cover, while also preventing the photo sensors from being disturbed by adjacent key zones) formed by opaque/light absorbing material such as black resin between the substrate 6a and the cover 6c, the spacers divide the input panel into a plurality of key zones, such as english letters or symbols on a standard keyboard shown in fig. 2b, i.e. below the blank part outside the box shown in fig. 2b corresponds to the spacer 6b, while the letter or character part inside the box corresponds to the key zone space enclosed by the spacer 6b, the substrate 6a, the cover 6c, each key zone contains a cryptographic detection unit constituted by a matrix/row of piezoelectric sensors 6d, and a matrix of photoelectric sensors 6e (preferably integrated with the not shown LEDs or lasers so as to improve the accuracy of the fingerprint detection by a matrix of the piezoelectric sensors 6d, and a further shows that the light reflection of the photo sensors 6 e.g. the matrix of the piezoelectric sensors 6e, the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6d, the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6e, the matrix of the piezoelectric sensor 6d, the matrix of the piezoelectric sensor 6e, the matrix of the.
As shown in fig. 2b, a virtual standard keyboard including a plurality of letters, numbers, and symbols is displayed on the input panel 6 of the access control robot of fig. 1. The dashed ellipses represent the range and sequence of finger presses when the user enters a password, where the dashed 1 ellipse represents the intersection of three letters J, U, I pressed first by the user, the dashed 2 ellipse represents the intersection of two letters R, F pressed next by the user, and the dashed 3 ellipse represents the continued pressing of the letter Y … … by the user (subsequent password entry process not shown). By designing the size of the key areas of the virtual keyboard, for example, increasing the size of the blank areas between the key areas, that is, the spacers 6b, a single finger of a user can press at most three adjacent key areas simultaneously, and the distribution areas of the single fingerprint between the three adjacent key areas are different. For example, for the first press, the letter J occupies the largest area, the letter U occupies the center, and the letter I occupies the smallest area. For the second press, the letter R occupies a larger area and the letter F occupies a smaller area. Whereas for the third press the fingerprint is mainly distributed in the range of the letter Y, the rest being on the spacer 6 b.
Thus, the input panel 6 detects, compiles and synthesizes a user password by using the operation method of the access control robot shown in fig. 4, as shown in the password field structure diagram of the access control robot of fig. 3.
First, it is detected that a user's finger has simultaneously pressed one or more key regions. The detection unit formed by the piezoelectric sensor 6d in each key area measures whether pressure change exists in the key area, namely whether capacitance change caused by change of the distance between the capacitance plates due to finger pressing exceeds a preset threshold value, and if the capacitance change exceeds the threshold value, the finger pressing exists in the key area. For example, as shown in the upper portion of FIG. 3, the first time three key regions J, U, I are detected as being pressed simultaneously by the user's finger; shown in the middle, a second detection of the user's finger pressing both key regions R, F; the third time shown in the lower part detects that the user has pressed only Y.
As described above, the piezoelectric sensors 6d in N × N pixels within a single key area form a matrix of rows and columns, with m piezoelectric sensors located below the user's finger causing a change in capacitance that exceeds a threshold, and can be used in m/N2To represent the area fraction of the finger within the key area. For the first key press, the letter J corresponds to m1The letter U corresponds to m2The letter I corresponds to m3And m is1>m2>m3. And analogizing in turn, sorting the area size of the key area pressed by each finger of the user, for example, m corresponding to the second R1M is greater than F2And so on.
The fingerprint of the user is measured using a matrix of photosensors 6e in each key area, as described above, specifically, for N × N pixels in each key area, a single photosensor 6e in each pixel receives ambient light or alternatively, the ambient light is sensed and recordedThe LED or laser emits light that is reflected by the uneven surface of the fingerprint, and the degree of unevenness of the fingerprint is reflected by comparing the intensity of the reference light with the intensity of the reflected light (determined depending on the sensor current), for example, by [0,2 ]k-1](k is a positive integer, e.g., k is 2-8), i.e., k-bit binary code, represents the degree of irregularity of the fingerprint in a single pixel, i.e., the gray level. And storing the fingerprint information, namely the gray level, collected on each pixel in the key area into a memory.
Subsequently, for each key area, a fingerprint code for each key area is formed according to the combination of the detected partial fingerprint and the area pressed by the finger. Specifically, m obtained by scanning each key region line by lineiFingerprint gray (each is k-bit binary code) and adopts Golomb-Rice compression coding, and the area m of each key areaiThe (or normalized value) is the coding parameter, and the first, second and third key area fingerprint codes are obtained in sequence. In addition, other compression algorithms, such as JPEG-LS with area normalization value as a quality factor, JBIG, RLE with area normalization factor as a parameter, and the like, may be used.
The fingerprint codes of the individual key areas are then concatenated to form the total fingerprint code of a single press, preferably with the remaining deficient portions being filled with a complementary bit code. The complement codes are all 0 or 1, for example, or the ratio of the average value of the pressing pressure measured by the top or bottom piezoelectric sensor of the adjacent spacer 6b to the preset reference value is further reflected, or the area m of each key area is storediNormalized numerical value of (a).
And finally, serially connecting the total fingerprint codes obtained by multiple times of pressing to form a final password, and storing the final password in a memory of the access control system.
The password input by the user is compared with the password pre-stored in the system section by section, and for the fingerprint code and the bit-filling code of each key area, the input password is judged to be correct only when the difference is smaller than a preset threshold (for example, 5% or 8%), and the user is an authorized or trusted user.
Therefore, the user does not need to perform any shielding action when inputting the password, and only by means of the habitual action of touch typing, the unique password closely related to the user fingerprint, the knocking position and the knocking strength can be obtained and used as the proof of identity verification, and the safety of the access control system is greatly improved. Even if an unauthorized user such as an intruder or a third party obtains a fingerprint reverse model of the user, the unauthorized user cannot steal or replace the fingerprint without knowing the distribution (i.e. the size of the cross-key area in fig. 2 b) and the strength (the pressure measured by the upper or lower piezoelectric sensor of the spacer 6b in fig. 2 a) of the user's hitting area, so that the security of the access control system is improved, and the cost is greatly reduced compared with the access control system using other physiological parameters such as retina and DNA. Furthermore, as no limitation is imposed on the region and sequence input by the user, the friendliness and the usability of the access control system are greatly improved, and the popularization and the large-scale application of the access control system are facilitated.
According to the access control robot and the operation method thereof, the input habit of the user is utilized, fingerprints crossing different key areas on the input panel are combined according to the area and the input sequence to obtain the composite password, so that the stealing and replacing can be effectively prevented, and the safety is improved.
While the invention has been described with reference to one or more exemplary embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the disclosure without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the disclosed systems and methods will include all embodiments falling within the scope of the present invention.
Claims (10)
1. A method of operating an access control robotic system, comprising:
detecting that one or more key areas on an input panel are pressed by fingers of a user at the same time;
measuring and recording the area of each key area pressed by the finger of the user;
measuring and recording partial fingerprints of the user fingers in each key area;
for each key area, combining the measured partial fingerprint with the area pressed by the finger of the user to form a fingerprint code of each key area;
the fingerprint codes of all the key areas are connected in series to form a total fingerprint code pressed once;
and serially connecting the total fingerprint codes pressed each time to form an input password of the access control system.
2. The method of claim 1, wherein a user's finger presses up to three key regions simultaneously.
3. The method of claim 1, wherein the fingerprint codes of the respective key regions are concatenated in an increasing or decreasing order of area.
4. The method of claim 1, wherein a padding code is included in the total fingerprint code of a single press to make the total fingerprint codes of each time equal in length.
5. The method of claim 4, wherein the complementary bit code comprises one or more of: 0, 1, the ratio of the average value of the pressing pressure to a preset reference value, and the normalized value of the area of each key area.
6. An access control robot system for performing the method of claim 1, comprising:
an input panel for displaying a virtual keyboard and detecting user input within a key region, comprising:
the piezoelectric sensor unit is used for detecting that one or more key areas on the input panel are pressed by fingers of a user at the same time and measuring the area of each key area pressed by the fingers of the user;
the photoelectric sensor unit is used for measuring partial fingerprints of the fingers of the user in each key area; and
the processor is used for combining the measured partial fingerprints and the areas pressed by the fingers of the user to form fingerprint codes of all the key areas, connecting the fingerprint codes of all the key areas in series to form a total fingerprint code pressed once, and connecting the total fingerprint codes pressed once in series to form an input password of the access control system;
and the memory is used for recording the fingerprint code of each key area, the total fingerprint code of single pressing and the input password.
7. The system of claim 6, wherein the input panel further comprises a plurality of spacers surrounding each key region.
8. The system of claim 7, further comprising additional piezoelectric sensors on and/or under the plurality of spacers to measure the pressure experienced by the plurality of spacers.
9. The system of claim 6, wherein a dam is between the piezoelectric sensor unit and the photosensor unit.
10. An access robot, characterized in that the access robot system according to any one of claims 6-9 is used.
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