KR20060014578A - Robot has intrusion detection function and intrusion detection method thereof - Google Patents

Abstract

The present invention relates to a robot having an intrusion detection function and an intrusion detection method thereof.

The robot having an intrusion detection function according to the present invention includes a speed sensor measuring a moving speed of a moving robot and at least first and second infrared sensors measuring and outputting infrared rays generated from an intruder in real time while the robot is moving. A plurality of infrared sensors are mounted, the first analog output signal measured from the first infrared sensor and the second analog measured from the second infrared sensor according to the movement of the robot after receiving the distance information between the first and second infrared sensors The movement speed of the robot measured from the output signal and the speed sensor is received in real time. The intrusion is detected and notified by comparing the first and second analog output signals based on the distance information and the moving speed. This allows the intrusion to be detected while the robot is in motion.

Robot, Infrared Sensor, Speed Sensor, Moving, Intrusion, Detection, Peak, Output Signal

Description

ROBOT HAS INTRUSION DETECTION FUNCTION AND INTRUSION DETECTION METHOD THEREOF}

1 is a schematic diagram of a robot having an intrusion detection function according to an embodiment of the present invention.

2 is a block diagram illustrating a robot having an intrusion detection function according to an exemplary embodiment of the present invention.

3 is a diagram illustrating an internal structure of the infrared sensor shown in FIG. 2.

4 is a view showing an intrusion detection operation of the robot having an intrusion detection function according to an embodiment of the present invention.

5 to 7 illustrate analog output signals measured from an infrared sensor.

The present invention relates to a robot having an intrusion detection function and an intrusion detection method thereof, and more particularly, to an intrusion detection method of a robot for detecting an intrusion using a dual infrared sensor.

Recently, due to the development of the electronic and telecommunications industry, security, crime prevention, and safety nets have been established in major areas such as major banks, museums, and national industrial institutions, so that security systems can be photographed and monitored in real time, and security systems are installed at major facilities. It is strengthening.

As a part of this, a robot that monitors and photographs the monitoring target and wirelessly outputs the monitoring result when an abnormality occurs by monitoring a certain area according to the operation of the user terminal in an area requiring security and crime prevention. In addition, as robot technology advances, the scope of application of not only expenses but also cleaning, expenses, animal care, document receiving and sending, etc. is expanding.

Korean Patent Publication No. 1991-21627 discloses a "moving monitoring device". According to this technology, the movement monitoring apparatus is a movable robot, a robot having a plurality of sensing means for detecting various abnormal conditions around the signal, a signal transmitting unit for wirelessly transmitting a situation detected by the sensing means and a receiving unit for receiving a control signal. The monitor means that the operator can detect abnormal situation by receiving the signal from the signal transmitter of the robot, and receives the signal from the transmitter of the robot and automatically calls the situation to the contact that has been created. It is composed of automatic telephone control means for receiving the contents of the operation and transmitting it to the receiver of the robot.

When the robot detects an obstacle by the object detecting means, the obstacle detection signal is inputted to the input terminal of the first microcomputer to output a signal for stopping the forward and backward driving motor to stop the robot. In addition, the steering motor is driven to change the direction of the robot, and again, the target detection means keeps going straight in the changed direction according to the ranging signal. Then, the robot stops at a position where it can easily detect intruder detection, fire detection, sound detection, and ambient temperature, and then sends an ultrasonic wave while the robot is stopped to receive the reflected wave of the ultrasonic wave. Receives infrared rays generated by the human body to detect the left and right movement state of the intruder by ultrasonic and infrared sensor to determine whether there is an intruder. At this time, if it is determined that there is no intruder, the process is repeated again by moving to a certain distance.

That is, since the robot must stop at an appropriate position to determine an intruder, the following problems may occur.

First of all, you need to set up a position where the robot should stop to guard any surveillance area. Therefore, it is difficult for an inexperienced person to determine and set the intrusion path well. Secondly, it may take a long time for the robot to monitor a certain area, and there is a problem that real-time monitoring is impossible. Third, when the intruder moves only when the robot moves and the intruder stops together when the robot stops, there is a problem that the robot cannot distinguish the intruder.

In addition, this robot has a problem of using an infrared sensor and an ultrasonic sensor at the same time. If only the infrared sensor is used, if there is a pipe in the area where the infrared sensor looks, the temperature of the pipe surface rises rapidly when hot liquid or gas flows inside the pipe, so there is a high probability of misinformation. There is a problem that the intruder can be detected only when the sensors are used at the same time.

It is an object of the present invention to provide a robot having an intrusion detection function capable of detecting an intruder while moving using a dual infrared sensor and an intrusion detection method thereof.

According to one aspect of the invention, there is provided a robot for detecting external intrusion. The robot includes a speed sensor for measuring a moving speed of a moving robot; A plurality of infrared sensors mounted at a predetermined position of the robot and including at least first and second infrared sensors measuring and outputting infrared rays generated from an intruder in real time while the robot is moving; A memory unit which sequentially stores the first and second analog output signals measured by the first and second infrared sensors and then sequentially outputs the first and second analog output signals; And a microcomputer that detects an intrusion by comparing first and second analog signals sequentially output from the memory unit. In this case, distance information between the first and second infrared sensors is input to the microcomputer, and the first and second infrared sensors are configured to detect an area that is at least a part of the area monitored by the first infrared sensor after a predetermined time. The second infrared sensor may be mounted on the robot to monitor.

The microcomputer compares the difference between the peak value of the first analog output signal at a first time point and the peak value of the second analog output signal at a second time point after the first time point with a preset threshold. Detect. In this case, the second time point may be determined by a distance between the first and second infrared sensors and a moving speed of the robot.

In addition, the infrared sensor, Fresnel lens for collecting infrared light generated from the intruder; A pyroelectric element generating a voltage by a temperature change according to the focused infrared rays; And a signal amplifier for amplifying and outputting the generated voltage.

According to another feature of the invention, there is provided a method for detecting intrusion of a robot equipped with a plurality of infrared sensors and at least a speed sensor including at least first and second infrared sensors. The method comprises the steps of: a) receiving distance information between the first and second infrared sensors; b) the movement speed of the robot measured from the first analog output signal measured from the first infrared sensor, the second analog output signal measured from the second infrared sensor, and the speed sensor in real time according to the movement of the robot; Receiving an input; And c) comparing the first and second analog output signals based on the distance information and the moving speed to detect the intrusion. At this time, the second infrared sensor monitors the area monitored by the first infrared sensor after a predetermined time, and in step c), the peak value of the first analog output signal and the second analog after a predetermined time. Obtaining a difference between peak values of the output signal; Comparing the difference between the peak values with a preset threshold value; And detecting an intrusion by notifying the intrusion when the difference between the peak values is greater than a threshold value.

In the present invention, a recording medium on which a program having an intrusion detection function of a robot equipped with a plurality of infrared sensors including at least first and second infrared sensors and a speed sensor may be provided.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention. Like parts are designated by like reference numerals throughout the specification.

Now, a robot having an intrusion detection function and an intrusion detection method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, a robot having an intrusion detection function according to an exemplary embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2.

1 is a schematic diagram of a robot having an intrusion detection function according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating a robot having an intrusion detection function according to an embodiment of the present invention.

As shown in Figs. 1 and 2, the robot having an intrusion detection function includes a movement monitoring sensor 10, 20, a speed sensor 30 (not shown in Fig. 1), a memory unit 110 and a microcomputer 120. ). At this time, the memory unit 110 and the microcomputer 120 is installed in the robot body 100.

The movement monitoring sensors 10 and 20 are sensors capable of monitoring an intruder while the robot moves, and an infrared sensor is used in the embodiment of the present invention, and a plurality of infrared sensors are mounted on the robot body 100. In the following description, two infrared sensors of the plurality of infrared sensors are mounted and operated, respectively, and are illustrated as a first infrared sensor 10 and a second infrared sensor 20.

The first and second infrared sensors 10 and 20 measure infrared rays generated from the intruder while the robot moves and output the measured analog signals to the memory unit 110. And each of the infrared sensors 10, 20 is installed on the front or rear or side of the robot body 100 has a respective monitoring area. In addition, when the infrared sensors 10 and 20 are mounted, most of the area monitored by one infrared sensor (about 90%) should be mounted so as to be an area to be monitored by the other infrared sensor after a predetermined time. In FIG. 1, the first and second infrared sensors 10 and 20 are installed side by side on the side of the robot body 100 so that the second infrared sensor 20 directly views the monitoring area. The same area is then shown as monitoring.

On the other hand, if you want to monitor the front and rear with respect to the direction of movement using two infrared sensors (10, 20) attached to the side by side, one of the two infrared sensors to see the front of the other than the other infrared sensor Install it so you can. This can be achieved by adjusting the installation angle of the two infrared sensors. In this case, however, since it is difficult to implement the same monitoring area, the difference between the output signals of the two infrared sensors 10 and 20 should be ignored to some extent. At this point, the negligible difference in the output signal must be equal to or less than the DC noise voltage.

And unlike FIG. 1, two or more infrared sensors may be used. For example, it can be installed in four places: front, rear, left side and right side of the robot. When installed on the front, rear, left and right sides of the robot like this, it is possible to monitor 360 degrees around the robot.

The speed sensor 30 is mounted on the wheel of the robot and transmits the movement speed information on the movement of the robot to the microcomputer 120 in real time.

The memory unit 110 stores an analog signal formed by an arrangement of shift registers and measured and output from the first and second infrared sensors 10 and 20, and the first analog output signal is first output and sequentially Transfer to the microcomputer 120.

The microcomputer 120 compares the analog output signals measured from the first and second infrared sensors 10 and 20 sequentially transmitted through the memory unit 110 to determine the intruder detection.

Next, an infrared sensor will be described in detail with reference to FIG. 3.

3 is a diagram illustrating an internal structure of the infrared sensor shown in FIG. 2. In FIG. 2, only the structure of the infrared sensor 10 is illustrated, but the same applies to the infrared sensor 20.

As shown in FIG. 3, the infrared sensor 10 includes a Fresnel lens 11, a pyroelectric element 12, and a signal amplifier 13.

The Fresnel lens 11 focuses infrared rays (heat energy) from the heat source on the pyroelectric element 12. At this time, the area monitored by the infrared sensor 10 is determined by the Fresnel lens 11.

이므로

에서 피크를 가진 적외선이 방사되며, 약

로 가열된 물체는

에서 피크를 가진 적외선이 방사된다. 따라서, 프레즈넬 렌즈(11)는 침입자가 인간임을 감지하기 위해서

에서 피크를 가지는 적외선을 집광한다.In general, infrared light is a kind of electromagnetic waves whose wavelength is longer than visible light and shorter than radio waves. Infrared rays are emitted from all objects in nature and their wavelengths vary according to the temperature of objects. For example, human body temperature is about

Because of

Infrared radiation with a peak at,

The object heated by

Infrared radiation with peaks is emitted. Therefore, Fresnel lens 11 is to detect that the intruder is human

Condenses infrared rays having a peak at.

The pyroelectric element 12 generates a voltage by temperature change due to infrared absorption.

The signal amplifier 13 amplifies the generated voltage and outputs an analog signal.

Referring to the operation of the infrared sensor 10 configured as described above, the infrared rays emitted from the heat source are collected by the Fresnel lens 11 to enter the pyroelectric element 12, the pyroelectric element 12 is infrared By detecting the voltage rises as the temperature rises and transmits to the signal amplifier (13). Then, the signal amplifier 13 amplifies the detected voltage to a desired voltage level and outputs it to the memory unit 110.

At this time, the noise by the pyroelectric element 11 and the signal amplifier 13 embedded in the first and second infrared sensors 10 and 20 should be negligibly smaller than the output analog signal.

Next, with reference to Figure 4 will be described the operation of the robot having an intrusion detection function according to an embodiment of the present invention.

4 is a view showing an operation process of a robot having an intrusion detection function according to an embodiment of the present invention.

First, before describing the intrusion detection operation of the robot having an intrusion detection function, the first and second infrared sensors 10 and 20 are installed side by side on the side of the robot body 100 as shown in FIG. The first infrared sensor monitors the same area immediately after a predetermined time, and the distance (x cm) between the first and second infrared sensors 10 and 20 installed in the robot body 100 is already microcomputer 120. Assume that it is entered in).

As shown in FIG. 4, the distance (x cm) between the first and second infrared sensors 10 and 20 is input to the microcomputer (S400), and the moving speed (v cm / s) of the robot is attached to the wheel. The speed sensor 30 is input to the microcomputer 120 in real time (S410). As the robot moves, analog output signals measured from the first and second infrared sensors 10 and 20 are also stored in the memory unit 110 and sequentially input to the microcomputer 120 by the memory unit 110 (S420). .

At this time, the analog output signals of the first and second infrared sensors when the robot looks at the stationary heat source while moving, respectively, are shown in FIG. 5. At this time, the horizontal axis of Figure 5 is the time axis and the vertical axis represents the magnitude of the analog output signal, A is the analog output signal measured from the second infrared sensor 20, B is the analog output measured from the first infrared sensor 10 It is a signal.

Referring to FIG. 5, the analog output signals output from the first and second infrared sensors 10 and 20 are, as previously assumed, the first infrared sensor 10 after a predetermined time in the region monitored by the second infrared sensor 20. As you can see, each analog output signal has almost the same shape with a certain time difference. The difference in the start time is determined by the position difference between the first and second infrared sensors 10 and 20 and the moving speed of the robot. That is, assuming that the speed of the robot is v (cm / s) and the distance difference between the first and second infrared sensors 10 and 20 is x (cm), the time difference of the analog output signal by the two infrared sensors is determined by x / v (s). At this time, a slight difference in the waveforms of the two analog output signals occurs because the performance of the two infrared sensors is not 100% identical, and several peaks appearing in the analog output signal are mounted on the infrared sensors 10 and 20. It is determined by the number of detection zones of Fresnel lens 11 that is made.

Subsequently, the microcomputer 120 receives the peak value at the first time point of the analog output signal measured from the second infrared sensor 20 and x / v (s) at the first time point of the analog output signal measured from the first infrared sensor. The peak values are compared at the second time point plus time. At this time, if the comparison value is larger than the threshold value, it is determined that there is an intruder. If the comparison value is smaller than the threshold value, it is determined that there is no intruder. Here, each analog output signal illustrated in FIG. 5 has almost no difference between the peak value of the analog output signal measured from the second infrared sensor and the peak value of the analog output signal measured from the first infrared sensor after x / v time. It is judged that there is no intruder.

6 and 7 are views illustrating a case where an intruder is detected as a result of intrusion detection of a robot having an intrusion detection function according to an exemplary embodiment of the present invention. FIG. 6 is an analog output signal measured when the intruder moves in the same direction as the robot, and FIG. 7 is an analog output signal measured when the intruder moves in the opposite direction to the robot.

6 and 7, unlike the analog output signal of FIG. 5, there is no difference in time between the analog output signals measured from the first and second infrared sensors 10 and 20, and the first and second infrared sensors. It can be seen that the analog output signal measured from (10, 20) also has little similarity. As such, the analog output signal has little similarity, and the peak value at the first time point of the analog output signal measured from the second infrared sensor 20 and the first time point of the analog output signal measured from the first infrared sensor x / v ( s) Comparing the peak value at the second time point plus time, if it is higher than the threshold value is to detect that there is an intruder. In FIG. 6 and FIG. 7, it is assumed that the result of the peak value comparison is higher than the threshold value.

As described above, if the robot equipped with the first and second infrared sensors 10 and 20 analyzes the analog output signal measured while moving, not only the misunderstanding caused by the heat source can be avoided, but also the intruder can be detected more accurately. In this case, to monitor a wider area, the filed of view of the infrared sensor can be widened, but in this case, the similarity of the analog output signals from the two infrared sensors is greatly reduced due to the uncertainty of the amount of infrared light emitted from the large area. It becomes difficult to detect an intruder correctly. Therefore, the field of view of the infrared sensor must be properly adjusted to suit the structure of the robot and the surveillance area.

And the intruder detection function of the robot having an intrusion detection function according to the embodiment of the present invention described above is implemented as a program in the form of a computer readable recording medium (CD-ROM, RAM, floppy disk, hard disk, magneto-optical disk, ) Can be stored.

The above embodiments are intended to illustrate the present invention, the scope of the present invention is not limited to the embodiments, it can be modified or modified by those skilled in the art within the scope of the invention defined by the appended claims. .

According to the present invention, a plurality of infrared sensors and position sensors are mounted on the robot to compare the respective analog output signals measured by the plurality of infrared sensors while the robot is moving to detect an intrusion, thereby preventing misinfection by a heat source other than the intruder. It can be avoided and intruders can be monitored in real time.

It can also be applied to applications where the infrared sensor is fixed and the background or object changes over time while moving the background or the object to be measured.

Claims (11)

In the robot that detects external intrusion, A speed sensor for measuring a moving speed of the moving robot; A plurality of infrared sensors mounted at a predetermined position of the robot and including at least first and second infrared sensors measuring and outputting infrared rays generated from an intruder in real time while the robot is moving; A memory unit which sequentially stores the first and second analog output signals measured by the first and second infrared sensors and then sequentially outputs the first and second analog output signals; And A microcomputer that detects intrusion by comparing first and second analog signals sequentially output from the memory unit. Robot with an intrusion detection function comprising a. The method of claim 1, The robot having an intrusion detection function is input to the microcomputer distance information between the first and second infrared sensor. The method of claim 1, The first and second infrared sensors are robots having an intrusion detection function mounted on the robot so that the second infrared sensor can monitor an area which is at least a part of the area monitored by the first infrared sensor after a predetermined time. The method of claim 3, wherein The microcomputer detects an intrusion by comparing a difference between a peak value of the first analog output signal at a first time point and a peak value of the second analog output signal at a second time point after the first time point with a preset threshold. Robots with intrusion detection capabilities. The method of claim 4, wherein The second time point, the robot having an intrusion detection function is determined by the distance between the first and second infrared sensor and the moving speed of the robot. The method according to any one of claims 1 to 5, The infrared sensor, Fresnel lens for collecting infrared light generated from the intruder; A pyroelectric element generating a voltage by a temperature change according to the focused infrared rays; And A signal amplifier for amplifying and outputting the generated voltage Robot with an intrusion detection function comprising a. The method of claim 6, Fresnel lens to distinguish human

Robot with intrusion detection to focus infrared light with peaks in An intrusion detection method of a robot equipped with a plurality of infrared sensors and speed sensors including at least first and second infrared sensors, a) receiving distance information between the first and second infrared sensors; b) the movement speed of the robot measured from the first analog output signal measured from the first infrared sensor, the second analog output signal measured from the second infrared sensor, and the speed sensor in real time according to the movement of the robot; Receiving an input; And c) comparing the first and second analog output signals based on the distance information and the moving speed to detect the intrusion Intrusion detection method of the robot comprising a. The method of claim 8, The second infrared sensor monitors the area monitored by the first infrared sensor after a predetermined time, Step c) is Obtaining a difference between the peak value of the first analog output signal and the peak value of the second analog output signal after a predetermined time; Comparing the difference between the peak values with a preset threshold value; And Detecting an intrusion and notifying the intrusion when the difference between the peak values is greater than a threshold value; Intrusion detection method of the robot comprising a. The method of claim 9, And the predetermined time is determined by the distance between the first and second infrared sensors and the moving speed of the robot. A recording medium on which a program having an intrusion detection function of a robot equipped with a plurality of infrared sensors including at least first and second infrared sensors and a speed sensor is recorded, a) a function of receiving distance information between the first and second infrared sensors; b) the movement speed of the robot measured from the first analog output signal measured from the first infrared sensor, the second analog output signal measured from the second infrared sensor, and the speed sensor in real time according to the movement of the robot; Receiving function; And c) a function of detecting an intrusion by comparing first and second analog output signals based on the distance information and the moving speed Recording medium in which a program comprising a recording.

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