KR20060081673A - Security robot system for wide area based of sensor/network and method thereof - Google Patents

Abstract

The present invention relates to a security robot system and method that responds quickly to a wide range of intrusion situations based on a sensor network. That is, the sensor network-based wide-range security system according to the present invention detects an intruder through a human body sensor, and detects the intruder's location as an RF signal, and when the intruder receives the location, moves to the intruder's location. It consists of a number of security robots that shoot intruders through cameras or warn intruders against unauthorized intrusions. Through such a configuration, each security robot receives the location information of the area in charge from the sensor node and waits at the proper location of each area in charge. When an external intruder occurs in a wide range of crime areas, the security robot receives the location information of the intruder through the sensor node. After moving to the intruder's location, it is possible to perform a security role such as shooting and warning to the intruder, thereby realizing more secure crime performance in a wide range of areas using a few security robots instead of a large number of unmanned cameras. The adaptive robot placement method allows for quicker response to intruder occurrences.

Security Robots, Fast Response, Wide Range, Sensor Networks, Adaptive Deployment

Description

Sensor network-based broad-range security robot system and method {SECURITY ROBOT SYSTEM FOR WIDE AREA BASED OF SENSOR / NETWORK AND METHOD THEREOF}

1 is a view showing the concept of a sensor network-based wide-range security robot system according to an embodiment of the present invention,

2 is a detailed block diagram of a security robot shown in FIG. 1;

3 is a detailed block diagram of a sensor node shown in FIG. 1;

4 is a diagram illustrating a routing path establishment concept in a sensor node according to an embodiment of the present invention;

5 is a view showing a concept of an adaptive robot positioning method in a sensor node according to an embodiment of the present invention,

6 is a view illustrating a concept of an adaptive robot positioning process according to an embodiment of the present invention;

<Brief description of the major symbols in the drawings>

200: security robot 210: driving unit

220: magnetic position recognition unit 230: obstacle detection unit

240: intruder photographing unit 240: intruder photographing camera

250: intruder warning unit 260: RF communication unit

270 control unit 100 sensor node

110: human body sensor 120: RF communication unit

130: routing path setting module 140: robot layout module

150: control unit

The present invention relates to a security robot system, and more particularly, to a security robot system and method for rapidly responding to a wide range of intrusion situations based on a sensor network.

Traditional security systems typically use multiple unmanned cameras and human body detection systems to detect intruders, capture and store intruders through cameras, or alert security personnel to intruders to alert security personnel.

However, the conventional security system as described above has a problem in that a large number of expenses due to the installation of a plurality of unmanned cameras and a limited shooting area due to the lack of mobility of the camera, the security personnel take time to dispatch.

In order to solve this problem, a security system using a security robot has been proposed as another conventional security system. In the security system using a security robot, when a security robot detects an intruder while moving the security area according to a set situation, a camera or For example, it is a way to inform the parties about the intrusion or to capture the intruder.

However, the conventional security system using the above-mentioned security robot also has a problem that the robot does not detect the intruder when the intruder moves away from the security robot, power consumption due to the continuous movement of the robot, the robot moves to detect the intruder The method had a problem that was not suitable for a wide range of areas.

In addition, even if a large number of robots are used in a wide range of areas, a technique for arranging and controlling a plurality of robots to respond quickly to a situation is not properly implemented until now. Basically, there is a method in which the central server is arranged and controlled by the central server adaptively according to the number of robots, but this requires an expensive central server, which is expensive, and the security system depends on the central central server. As a result, it is difficult to apply to a wide range of areas because of its extensibility. Therefore, a technique for arranging and controlling a plurality of robots for quickly responding to a situation in the form of a distributed system without using a central server has not been properly implemented until now, and thus it is difficult to apply to a wide range of areas.

Accordingly, an object of the present invention is to provide a security robot system and method capable of quickly responding to a wide range of intrusion situations based on the sensor network.

In order to achieve the above object, the present invention provides a sensor network-based wide-range security robot system, and transmits a message requesting the location of the area to be in charge in the wide-range crime prevention area of the robot system as an RF signal, When receiving the location information of a plurality of security robots to move to the location of the intruder to shoot the camera or warn the intruder, and receiving the area information request message sent from the security robots responsible for the robot Determines the area and transmits the information to the robot as an RF signal, detects whether an intruder occurs in the wide-range crime prevention area through a human body sensor, and when the intruder occurs, sends the RF signal to the security robot in the area. And a sensor node for transmitting to.

In another aspect, the present invention is a method for performing a security in a sensor network-based wide-range security robot system comprising a plurality of sensor nodes and a security robot, (a) location information of the area to be in charge in the wide-range security area from the plurality of security robots; Receiving a request, (b) adaptively dividing the wide-range crime prevention area into small areas to be in charge of each robot according to the number of the crime prevention robots, and (c) through RF communication between the sensor node and the robot. Transmitting the location information of each area of the robot to a plurality of robots in the wide-range crime prevention area and waiting at an appropriate position in the charge area; and (d) an external intruder through the sensor node when an external intruder occurs in the wide-range crime prevention area. Transmitting the location information of the intruder to the robot in the area in which the attack occurred; The inverse of the robot according to the intruder location information received through the sensor node, go to the location of the intruder, it characterized in that it comprises the step of controlling to perform a recording of the intruder.

Hereinafter, with reference to the accompanying drawings will be described in detail the operation of the preferred embodiment according to the present invention.

1 is a diagram illustrating a concept of a wide-range anti-theft robot system based on a sensor network according to an embodiment of the present invention.

Referring to FIG. 1, a sensor network-based quick response wide-range security robot system includes a sensor node 100 and a security robot 200.

When the sensor node 100 detects an intruder through a human body sensor, the sensor node 100 transmits the position information of the intruder to the crime prevention robot 200 as an RF signal. If the sensor node 100 cannot directly transmit the intruder's position information to the security robot 200 through the RF signal, the security robot 200 repeats the process of transmitting the RF signal to the neighboring sensor node 101 (b). It follows the multi-hop method of conveying the intruder's location information. In the multi-hop method, the intruder's location information is transmitted as an RF signal along an already established routing path. When the security robot 200 receives the location information of the intruder (c) moves to the location of the intruder (c) to shoot the intruder through the mounted camera or to warn the intruder to act as a crime prevention.

2 is a detailed block diagram of the security robot shown in FIG. 1 according to an embodiment of the present invention.

Referring to FIG. 2, the security robot 200 includes a driving unit 210 for moving the body of the robot, a magnetic position recognition unit 220 for recognizing its current position, and an obstacle on a moving path. Sends an intruder photographing unit 240 having an obstacle detecting unit 230 for detecting, a camera 241 for photographing an intruder, an intruder warning unit 250 for catching an intruder, and a corresponding area request message. And a control unit 270 for controlling each unit so as to perform location movement and security activities according to the message transmitted from the RF communication unit 260 and the RF communication unit 260 for receiving an intruder's location message and its own area message. ).

Looking at the operation, when the security robot subscribes to the security system, the RF communication unit 260 transmits a location information request message for the area in charge of its own in the wide-range crime prevention area. When the position information of the area in charge or the position information of the intruder is received through the RF communication unit 260, the target unit is moved to the target position through the driving unit 210. In the moving process, the magnetic position recognizer 220 continues to check its position and moves, and the obstacle detector 230 moves to avoid an obstacle. If the situation is moved to the intruder's position to detect the intruder through the intruder photographing unit 240, and shoots and warns the intruder through the intruder warning unit (250).

3 is a detailed block diagram of the sensor node shown in FIG. 1 according to an embodiment of the present invention.

Referring to FIG. 3, the sensor node 100 multi-hops a human body sensor 110 to detect an intruder through a human body sensor, and location information of an intruder or a location of a robot in charge. RF communication unit 120 for transmitting and receiving the RF signal in the transmission, routing path setting module 130 in charge of the routing path setting necessary for transmitting the message in a multi-hop method, and the robot in charge of the location information request Control each part according to the robot batch module 140 which determines the area in charge of each robot in the wide-range crime prevention area, and the message transmitted from the intruder detection and the RF communication unit 120 detected by the human body sensor 110. The control unit 150 is provided.

Referring to the operation, when the sensor node 100 detects an intruder through the human body sensor 110, the sensor node 100 transmits the location of the intruder to the security robot 200 through the multi-hop method through the RF communication unit 120. In the multi-hop transmission, the routing path information that is already set is learned through the routing path setting module 130. When the sensor node 100 receives the charge area position request message of the crime prevention robot 200 through the RF communication unit 120, the sensor node 100 determines the position of the charge area of the corresponding robot through the robot placement module 140. The routing path setting and determination of the location of the robot in charge will be described in detail later with reference to FIGS. 4 and 5.

In other words, if the sensor node cannot directly transmit the intruder's position information to the robot through the RF signal, the multi-hop method transmits the intruder's position information to the robot by repeating the process of transmitting the RF signal to neighboring sensor nodes between the sensors. Follow. In the multi-hop method, routing routing needs to be set up. To do this, a routing routing module is installed at the sensor node. Routing path setting module sets routing path that can transmit data to the robot closest to it. In order for the robot to respond quickly to the intrusion situation, the robot is divided into the entire crime prevention area and the robot waits at an appropriate position such as the center point of its own area. At this time, the robot layout algorithm is needed to adaptively divide the area to be in charge of the robot. For this purpose, the robot layout module is placed in the sensor node to handle this task. The robot layout module compares the size of the area to which it belongs with the size of the adjacent area to determine the area of the robot by dividing the largest area.

4 is a diagram illustrating a routing path establishment concept in a sensor node according to an embodiment of the present invention.

Referring to FIG. 4, the routing path of each sensor node 100 is set to a neighboring node located closest to the crime prevention robot 200 among its neighboring nodes. The sensor node 100 ′ closest to the security robot 200 receives a message from all other sensor nodes 100 in a multi-hop manner and finally transmits the message to the security robot 200.

Routing path setting is made when the security robot 200 moves to its own standby position for each area in charge and becomes a standby state. The security robot 200 which is moved to its standby position and becomes a standby state transmits a routing rerouting request message as an RF signal to the sensor node closest to it. The sensor node 100 closest to the security robot 200 receiving the flood floods the routing rerouting message.

The sensor nodes 100 that have received the routing path reset message set their routing paths to the node that has sent the routing path reset message through their routing path setting module 130. In this case, since the routing path resetting message is delivered by flooding, when a sensor node receives a plurality of routing resetting messages, the node which sent the first received message is set as the routing path. When the routing path is set in this manner, the routing path is set in the reverse direction of the path in which the routing rerouting message is flooded, thereby forming a routing tree as shown in FIG. 4.

5 is a diagram illustrating a concept of an adaptive robot placement method in a sensor node according to an embodiment of the present invention.

Referring to FIG. 5, the method proposed by the present invention for arranging a robot so as to quickly respond to an intrusion situation may include an area in which each robot is in charge of the entire area according to the size of the entire crime prevention area and the number of crime prevention robots. It is a method of adaptively dividing according to the number of robots as shown in FIG. 5 in the shape of a rectangle, and allowing a security robot in charge of each area to wait at an appropriate position of the area. Security robots can respond quickly to intrusions in their areas by waiting in the center of their area, and adaptively adapt the area that each robot should take care of in the entire area. By sharing, you can quickly respond to intrusions that occur in the entire security area.

When the crime prevention robot 200 joins the system for the first time in the initial state of the crime prevention system, the crime prevention robot makes the center position of the whole crime prevention system its own standby position, and makes the whole area of the crime prevention system its own charge area. Afterwards, the security robot 200 to be additionally subdivided divides the largest area among the currently divided charge areas to make one of them the area to be in charge of. In order to determine the area in charge of the security robot 200, the sensor node 100 located at the center point of each area is called the header node 100 'in charge of the area, and the robot node of the header node 100' is disposed. The module 140 determines the area in charge of the security robot 200.

The robot arrangement module 140 sets and stores the size of the region to which it belongs, the size of the region adjacent to it, and the location information of the header nodes in charge of the adjacent region. This is done by storing the location information of the neighboring area and the location information of the headers in the adjacent area to the two header nodes that are divided in their area each time the header node is divided in its own area. .

Hereinafter, referring to FIG. 6, a process of finding a security area by adding a security robot and determining a area of a security robot added through the robot arrangement module 140 of the sensor node will be described in more detail.

Referring to FIG. 6, when the added security robot 200 ′ transmits a location request message for the area of responsibility in which the security robot 200 ′ is in charge to the sensor node 101 closest to the person (a), the message is sent. The received sensor node 101 transfers the robot's location information request message to the header node 100 'that is in charge of the area to which the robot belongs (b).

Then, the header node 100 ′ receiving the charge area position request message determines the charge area of the robot through its robot placement module 140. The robot placement module 140 of the header node 100 'knows the size of the area it is responsible for and the size information of the neighboring area adjacent thereto, and finds the largest area therefrom. In this case, if one's area is the largest area, one's area is divided and one of them is determined as the area of charge of the robot. On the other hand, if there is a larger area among the neighboring areas, the robot node's location request message for each robot is transmitted to the header node in charge of the area, and the received header node receives the area in charge of the robot through its robot layout module. Determine recursively in a way. The transfer of the location request message for the area of responsibility to the header node in charge of the neighbor area is possible because the location information of neighboring header nodes is shared with each other.

When the area in charge of the robot is determined by the above recursive method, the center position of the robot is transferred to the robot as the standby position of the robot. In addition, the security robot, whose own area is divided and whose area is changed, is also transferred to the robot with the center position of the newly changed area as the standby position of the robot. The robot, having received its own area message, moves to the appropriate waiting position in its area and waits, and at the same time, the sensor node (in fact, the header node in charge of the area) closest to itself as described in FIG. Send a routing rerouting request message, and the header node receiving the same resets the routing path of the area to be in charge by flooding the routing rerouting message.

Therefore, the security robot system of the present invention as described above is suitable for a wide range based on the sensor network, it is possible to quickly respond to the intrusion situation due to the adaptive robot deployment method.

As described above, the sensor network-based wide-range security system of the present invention detects an intruder through a human body sensor and transmits a plurality of sensor nodes that transmit the position of the intruder as an RF signal, and moves to the position of the intruder when receiving the position of the intruder. It consists of a number of security robots that shoot intruders through cameras installed or warn intruders against unauthorized intrusions. Through such a configuration, each security robot in the wide method system receives the location information of the area to be in charge from the sensor node and waits at the appropriate location for each area in charge. Receives location information and moves to the location of the intruder, and performs a security role such as shooting and warning of the intruder, so that a more secure crime prevention for a wide range of areas using a few security robots instead of a large number of unmanned cameras Performance can be realized, and the adaptive robot placement method enables quicker response to intruder occurrence.

Meanwhile, in the above description of the present invention, specific embodiments have been described, but various modifications may be made without departing from the scope of the present invention. Therefore, the scope of the invention should be determined by the claims rather than by the described embodiments.

As described above, the present invention provides a plurality of sensor nodes that transmit the position of the intruder as an RF signal when the intruder is detected through a human body sensor, and move to the position of the intruder when the intruder receives the position of the intruder. Multiple security robots that shoot intruders or warn intruders against unauthorized intrusions constitute a security system for a wide range of areas, solving the problems of traditional security systems using multiple unmanned cameras. Accordingly, by making a small number of security robots function as an unmanned camera instead of a large number of unmanned cameras, cost is reduced, and the range of the shooting area is enlarged due to the mobility of the robot, and security robots are used instead of security personnel. This has the advantage of enabling rapid situation handling.

In addition, by solving the problem of the existing security robot system, a number of sensor nodes equipped with a human body detection sensor detects the intruder, the intruder can not avoid the intrusion detection, the robot is in the standby state in its area, the intrusion situation occurs Since it moves only at the time, it consumes less power, and it is easy to control multiple robots due to the proposal of the adaptive robot placement algorithm for multiple robots. Proposal of an enemy robot placement method has the advantage that can be faster response.

Claims (9)

As a sensor network based extensive security robot system, It transmits a message requesting the location of the area that will be in charge of the robot system in the area of the robot system as an RF signal, and when receiving the location information of the intruder, moves to the location of the intruder to shoot the intruder with a camera or alert A number of security robots to perform, Receives the charge area location request message sent from the security robots to determine the area of charge of the robot and transmits the information to the robot as an RF signal, and whether the intruder in the wide-range security area through the human body sensor Sensor node that detects and transmits the location information of the intruder as an RF signal to the security robot in the area when an intruder occurs Wide range security robot system based sensor network comprising a. The method of claim 1, The security robot, A driving unit which performs a movement with respect to the robot body, Magnetic position recognition unit for recognizing the current position of the robot, An obstacle water detection unit for detecting an obstacle when moving in a designated crime prevention area of the robot; An intruder photographing unit which performs camera photographing of an intruder invading in the area of charge; An RF communication unit for receiving location information of a responsible area of the robot in the wide-range crime prevention area and receiving location information of an intruder transmitted from the sensor node; Control unit for controlling each unit to move the position of the robot according to the message transmitted from the RF communication unit and the security activity in the corresponding security area Sensor network-based widespread security robot system comprising a. The method of claim 2, The security robot, Sensor network-based widespread security robot system, characterized in that further comprising a warning unit for warning the intruder. The method of claim 1, The sensor node, A human body sensor unit detecting whether an intruder is generated in the wide-range crime prevention area; An RF communication unit for transmitting / receiving intruder location information according to a plurality of crime prevention robots and robot-specific responsible area information and intruders in the wide-range crime prevention area; Receiving location information of the area to be in charge of each robot upon receiving a request for location of a charge area from the robots located in the wide-range crime prevention area through the RF communication unit, and detecting the external intruder through the human body detection sensor, Control unit for controlling each unit to transmit the intruder position information to the robot of the area where the intrusion is detected Sensor network-based widespread security robot system comprising a. The method of claim 4, wherein The sensor node, And a robot disposition module configured to determine an area to be in charge of each robot in the wide-range crime prevention area when the request for location information of the robot in charge area is received. The method of claim 4, wherein The sensor node, When the external intruder occurs in the multi-hop method to the robot in the area when the routing path setting module for setting the routing path of the sensor nodes located in the path to the robot further comprises a sensor network-based wide-range crime prevention Robotic system. The method according to claim 5 or 6, The robot deployment module and the route setting module do not use a central server for robot placement and route setting. As a crime prevention method in a wide range of security robot systems based on a sensor network including a plurality of sensor nodes and security robots, (a) receiving a request for location information of a region to be in charge of the wide-range crime prevention area from the plurality of crime prevention robots; (b) adaptively dividing the wide-range crime prevention area into small areas to be in charge of each robot according to the number of crime prevention robots; (c) transmitting the location information of each robot to a plurality of robots in the wide-range crime prevention area through RF communication between the sensor node and the robot, and waiting the proper location in the area of charge; (d) transmitting the location information of the intruder to the robot in the corresponding area where the external intruder is generated through the sensor node when an external intruder is generated in the wide-range crime prevention area; (e) controlling the robot to move to the location of the intruder according to the location of the intruder received through the sensor node by the robot in the area in which the external intruder is generated, and then perform a shooting of the intruder; Crime prevention method in a wide range of security robot system based on the sensor network comprising a. The method of claim 8, After the step (e), (f) further comprises the step of controlling the robot to move to the location of the intruder to warn the intruder for intrusion security in the sensor network-based wide-range security robot system, characterized in that How to do it.

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