KR20100022297A - Apparatus for detecting intrusion and intrusion detection method using measuring the position of 3d sound source thereof - Google Patents

Abstract

PURPOSE: An apparatus and a method for detecting an intrusion using a 3D sound-source location detection technology are provided to reduce detection failure and detection error by combining a heat detector and an image detector. CONSTITUTION: A sound-source location detection part(300) calculates a first distance from a sound source based on a first arrival time of the sound source to a microphone. The sound-source location detection part calculates the 3D size of a defense district based on the first distance from the sound source. The sound-source location detection part calculates a second distance from other sound-source based on a second arrival time of the breaking sound source to a microphone. The sound-source location detection part calculates the 3D position of the sound source based on the calculated second distance difference. An intrusion discrimination part(400) outputs the intrusion alarm by discriminating the intrusion state of the defense district.

Description

Apparatus for Detecting Intrusion and Intrusion Detection Method using Measuring the Position of 3D Sound Source Thereof}

The present invention relates to an intrusion detection apparatus and method, and more particularly, to an intrusion detection apparatus and method using a three-dimensional sound source position measurement technology.

To date, intrusion detection sensors have been the mainstream, such as heat detectors, infrared detectors, magnetic detectors and vibration detectors. Recently, video detectors have also been introduced to detect intrusions.

Magnetic detectors detect intrusion by placing magnets and switches that are sensitive to magnets in windows and doors to detect the opening of windows and doors.

Infrared detectors emit infrared light from the outer side of the guard zone and receive infrared light from the other side. When an intruder passes by, the infrared ray is momentarily blocked to detect the intrusion. The above-described magnetic sensor and infrared sensor have a simple principle, which makes it easy to disable the sensor.

The hot wire detector detects an intrusion by detecting a temperature difference between the human body and the surroundings when the intruder penetrates and moves, but when there is a heat source inside the detection area, there is a problem of generating an intrusion signal by incorrectly detecting it as an intruder. That is, the hot wire detector has a problem of insensitivity to invade using clothing or an object of a material that hides body temperature or to disable the sensor by masking the sensing unit of the sensor.

The image sensor has a problem in that some insensitivity and misinformation occur, such as an intrusion using a change of lighting and an intrusion movement speed adjusting obstacle, by detecting an intruder by image recognition technology. That is, the image sensor is difficult to discriminate between moving intruders and objects (robot cleaners, small animals, etc.), and misinformation and insensitivity occur, and it takes several seconds to determine moving objects, and thus measures for short-term crime are required.

The above-described conventional detector can be intentionally disabled by an intruder in advance or shortly before a crime, and it is not detected until the intruder enters a room, and thus, the intrusion prevention time is insufficient.

In order to solve such a problem, the present invention is to provide an intrusion detection apparatus and method using a three-dimensional sound source position measurement technology.

Intrusion detection apparatus according to a feature of the present invention for achieving this technical problem is to generate each specific beep from a mobile speaker located at each corner of the guard zone according to the plurality of microphones arranged in a specific area Calculate first distance differences from each sound source of each particular beep based on first arrival time differences of each particular beep that is received through and arrive at the respective microphones, and calculate the first distance difference of each calculated sound source Calculates the three-dimensional size of the guard zone based on the number, and when the breakdown acoustic signal is generated due to intrusion in the guard zone, the breakdown acoustic signal is received by the plurality of microphones and reaches the respective microphones. Measuring the second arrival time differences of the signal results in a particular sound source of the broken acoustic signal. A sound source position measuring unit calculating a three-dimensional position of the specific sound source based on the calculated second distance difference from the second distance difference; And an intrusion determination unit configured to determine whether the three-dimensional position of the calculated specific sound source is within the guard zone by comparing with the three-dimensional size of the guard zone to determine whether the security zone has been invaded, and output an intrusion alert.

Intrusion detection method according to a feature of the present invention (a) generates each specific beep from a mobile speaker located at each corner of the guard zone, and receives each particular beep through a plurality of microphones, reaching each microphone Calculate first distance differences from each sound source of each particular beep based on the first arrival time differences of each particular beep, wherein 3 of the guard zone is based on the calculated first distance differences of each sound source; Calculating the dimension size; (b) when a damaged acoustic signal is generated due to an intrusion in the guard zone, measuring the second arrival time differences of the damaged acoustic signal received by the plurality of microphones and reaching each of the microphones; Calculating a three-dimensional position of the specific sound source based on the calculated second distance difference from the specific sound source of the damaged sound signal; (c) comparing the calculated three-dimensional position of the specific sound source with the calculated three-dimensional size of the guard zone to determine whether the guard zone is within the guard zone and is set to ignore noise generated; And (d) generating an intrusion alarm and transmitting the damaged acoustic signal to the control center when the calculated three-dimensional position of the specific sound source is within the guard zone and is not the ignored guard zone.

By the above-described configuration, the present invention can expect the effect of early detection by measuring the damage for intrusion before the intruder reaches the monitoring zone.

The present invention is inexpensive to implement the device compared to the image sensor and can be combined with the existing sensor to reduce the detection and misinformation.

The present invention can be expected to remove the misinformation and secure evidence by the recorded sound confirmation.

The present invention is easy to automate the detection area setting only by generating a specific sound and can be easily maintained by self-check when changing the layout of the structure.

The present invention can be used in combination with a conventional hot wire detector or an image detector can detect any intruder 360 degrees in any direction can compensate for the weakness of the existing detector.

The present invention can measure the size of the guard area by the sound generation is convenient and very little measurement error.

DETAILED DESCRIPTION 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, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. In addition, the terms “… unit”, “… unit”, “module”, “block”, etc. described in the specification mean a unit that processes at least one function or operation, which is hardware or software or a combination of hardware and software. Can be implemented as:

1 is a view showing a schematic configuration of an intrusion detection apparatus using a three-dimensional sound source position measurement technology according to an embodiment of the present invention, Figure 2 is distributed in three dimensions of the guard zone in accordance with an embodiment of the present invention 3 shows a 3D microphone, and FIG. 3 is a block diagram schematically showing an internal configuration of an analog processor according to an exemplary embodiment of the present invention, and FIG. 4 is a simplified diagram of an internal configuration of a sound source position measuring unit according to an exemplary embodiment of the present invention. 5 is a block diagram schematically illustrating an internal configuration of an intrusion determining unit according to an exemplary embodiment of the present invention, and FIG. 6 is a block diagram illustrating an internal configuration of an acoustic processor according to an exemplary embodiment of the present invention. It is a block diagram.

Intrusion detection apparatus according to an embodiment of the present invention includes a 3D microphone 100, analog processing unit 200, sound source position measurement unit 300, intrusion determination unit 400, sound processing unit 500 and the control unit 600. do. In addition, the speaker 700 includes a fixed speaker 710 fixed to one side of the guard zone and a mobile speaker 720 that is movable in the guard zone.

The 3D microphone 100 is four or more acoustic sensors installed at regular intervals to measure the position of the sound source, and receives the broken sound signal from the sound source at a specific point.

Here, the damage sound signal refers to a sound generated when an intruder damages an object in a door, a shutter door, a window, a retaining wall, a partition, a ceiling, a floor, or a surveillance area.

The 3D microphone 100 should be at least four microphones 100, the arrangement of the microphones 100 should be configured in three dimensions, and the measurement error decreases as the distance between the microphones 100 decreases.

As shown in FIG. 2, the 3D microphone 100 may be installed in three dimensions in the surveillance zone or three-dimensionally installed at one corner of the surveillance zone.

The 3D microphone 100 transmits the received sound signal to the automatic gain amplifier (hereinafter referred to as 'AGC') 202 of the analog processing unit 200 after or without amplification in the vicinity of the 3D microphone 100.

The analog processing unit 200 includes an AGC 202 and an analog to digital converter (hereinafter referred to as 'ADC') 204.

The AGC 202 amplifies and transmits a sound signal received by each 3D microphone 100 to a level necessary for the input of the ADC 204. Here, the amplification degree may be automatically performed by the AGC 202 or controlled by the sound source position measuring unit 300 or the control unit 600.

The ADC 204 receives the acoustic signal output from the AGC 202, converts it into a digital signal, and transmits the converted digital signal. At this time, when the ADC 204 increases the number of sampling, the measurement error is reduced.

The sound source position measuring unit 300 includes a level discriminator 302, a similarity discriminator 304, a sound source position measurer 306, and a sound source position memory 308.

The level discriminator 302 determines whether the acoustic signal output from the ADC 204 is greater than or equal to a preset reference value and removes the acoustic signal output if the threshold value is less than or equal to the reference value. Here, the reference value refers to a threshold indicating the amplitude of the acoustic signal more than a certain level in order to distinguish the signal representing the noise.

When the similarity discriminator 304 receives an acoustic signal of more than a reference value from the level discriminator 302, the similarity discriminator 304 determines whether the acoustic signal is from the same sound source and classifies the acoustic signal for each sound source by checking a correlation of the received acoustic signal. .

If there are two kinds of sound signals, it is necessary to classify the position by measuring the same sound source.

The sound source position detector 306 measures the time difference of arrival of the acoustic signal arriving at each 3D microphone 100 and stores the difference in the sound source position memory 308 (for example, t1-t1, t1-t3, t3- t4). , t1-t3, etc.). In addition, the sound source position measurer 306 calculates the distance difference from the 3D microphone 100 to the sound source using the arrival time difference, and calculates the three-dimensional position (distance and direction) by using the triangulation method. . Here, the triangulation method is a well-known technique and detailed description is omitted.

When two or more kinds of sound signals are received, the sound source position detector 306 calculates three-dimensional positions for each sound signal.

When the damaged sound signal is received by the plurality of microphones 100, the sound source position detector 306 considers and removes the received sound signal as a signal due to the reflected wave effect.

The sound source position memory 308 stores the arrival time difference of the sound signal reaching each 3D microphone 100 for each sound signal, and the three-dimensional position from the 3D microphone 100 to the sound source.

The intrusion discrimination unit 400 includes an intrusion discriminator 402 and an intrusion monitoring memory 404.

Intrusion discriminator 402 is a three-dimensional position of the sound source calculated by the sound source position measurement unit 300 compared to the three-dimensional size of the guard area (door, window, glass, wall, ceiling, floor, etc.) Intrusion alarm is output.

The intrusion discriminator 402 outputs an intrusion alarm when the three-dimensional position of the sound source calculated by the sound source position measuring unit 300 is within the guard zone and is an important guard zone compared to the three-dimensional size of the guard zone. Hereinafter, within the aforementioned security zones includes the boundaries or interior of the security zones.

The intrusion discriminator 402 outputs an intrusion alarm when the three-dimensional position of the sound source calculated by the sound source position measuring unit 300 is a guard zone compared to the three-dimensional size of the guard zone and is not a ignored guard zone.

The intrusion discriminator 402 does not output an intrusion alarm when the three-dimensional position of the sound source calculated by the sound source position measuring unit 300 is a guard zone and a ignored guard zone compared with the three-dimensional size of the guard zone.

In conclusion, the intrusion discriminator 402 compares the location information received from the sound source position detector 306 with the information of the three-dimensional size of the guard zone, the critical guard zone, and the guard guard zone stored in the intrusion monitoring memory 404. Determine if it is invading.

The intrusion discriminator 402 calculates the position of each sound source of the plurality of sound signals through the sound source position measuring unit 300 and outputs a preliminary alert when it is determined that the position of each sound source approaches the guard area outside the guard area.

The intrusion monitoring memory 404 stores the result of determining whether the three-dimensional position of the sound source calculated by the intrusion discriminator 402 is within the boundary of the guard zone, within the critical guard zone, or the ignored guard zone, and measures the sound source position. The three-dimensional size of the guard area measured in the unit 300 is stored.

In other words, the intrusion monitoring memory 404 stores various kinds of information necessary for determining whether or not the intrusion of the three-dimensional size of the guard zone, the critical guard zone, the ignored guard zone, and the like.

Hereinafter, a method of obtaining a three-dimensional size of a guard zone, a method of registering an important guard zone and a ignored guard zone in FIG. 7 will be described in detail.

The sound processor 500 includes a sound memory 502, a beam forming processor 504, and a sound synthesizer 506.

The sound memory 502 stores the sound signal received by the sound source position measurement unit 300 and the intrusion sound signal suspected of intrusion by the intrusion determination unit 400.

The beamforming processor 504 increases the sensitivity of the 3D microphone 100 by processing the acoustic signal or the intrusion acoustic signal as a directivity characteristic of the sound source direction. The reason for increasing the sensitivity of the 3D microphone 100 is to record a sound signal or an intrusion sound signal with high sensitivity to help the controller to determine the intrusion by the sound.

The sound synthesizer 506 synthesizes a sound or voice using data stored in the sound memory 502.

The controller 600 controls a procedure of transmitting an intrusion alert when an intrusion detection unit 400 detects an intrusion, and synthesizes intrusion sound signals stored in the sound memory 502 into analog sound through the sound synthesizer 506 to control the intrusion sound. Transfer to the center.

The control unit 600 generates a measurement beep (sound wave or ultrasonic wave) at a predetermined time through the fixed speaker 710 installed on one side of the guard zone during the alarm release of the guard zone, and receives the measurement beep to the 3D microphone 100 to measure the measurement beep. By measuring the delay time and the magnitude of the signal arriving at each microphone 100 in the sound source position measuring unit 300 to check whether the position and sensitivity of the 3D microphone 100 is normal.

The control unit 600 artificially shocks the outside of the guard area (door, wall, glass, etc.) to generate a sound and informs the sound source position measurement unit 300 to correct the sensitivity and position so that the generated sound is detected as an intrusion.

7 is a view for explaining the intrusion detection method using the three-dimensional sound source position measurement technology according to an embodiment of the present invention.

First, assume that mobile speaker 720 is located at each corner of the security zone.

The sound source position measurer 306 controls the sound synthesizer 506 to generate a sound wave signal for measurement, and transmits the generated sound wave signal for measurement to the mobile speaker 720 by wire or wirelessly through the control unit 600. As a result, when the mobile speaker 720 receives the measurement sound wave signal from the sound synthesizer 506, the mobile speaker 720 generates the measurement sound.

The sound source position measuring unit 306 receives the measurement sound generated from the mobile speaker 720 through the 3D microphone 100 and the analog processing unit 200, and measures the arrival time difference reaching each 3D microphone 100, and the arrival time. The difference in distance from the 3D microphone 100 to the sound source is calculated using the difference.

The sound source position measurer 306 calculates the three-dimensional position using the calculated distance difference using triangulation. For example, if the guard zone is a cuboid, measuring the width, length, and height (x, y, z) tells you the size of the guard zone. It can be seen. Therefore, the sound source position measuring device 306 can measure the size of the guard zone even if it is hexagonal or circular.

The sound source position measurer 306 stores the calculated three-dimensional size of the guard zone in the sound source position memory 308 and the intrusion monitoring memory 404 of the intrusion discrimination unit 400, and the sound synthesizer 506 of the sound processor 500. ) To synthesize the speech and output the synthesized speech to the fixed speaker 710 (for example, 'the measured distance is 4.8 m in the x direction') (S100).

The sound source position measurer 306 receives sound signals from the plurality of microphones 100 so that the position of the sound source of the sound signals is determined out of the guard zone and delays a predetermined time so that the sound signals are received from the plurality of microphones 100. In this case, it is regarded and removed as acoustic signal generated secondarily by external noise (thunder, firecracker, etc.).

The sound source position measurer 306 may remove the sound generated outside the guard zone when the calculated three-dimensional position of the sound source is out of the guard zone compared to the three-dimensional size of the guard zone.

The level discriminator 302 determines whether the sound signal received from the 3D microphone 100 is greater than or equal to a preset reference value and removes the corresponding sound signal if it is less than or equal to the reference value (S102).

The similarity discriminator 304 determines whether the sound signal received by the level discriminator 302 is a sound signal from the same sound source and classifies the sound signal for each sound source (S104).

The sound source position measurer 306 measures the difference in time of arrival of the acoustic signal arriving at each 3D microphone 100, calculates the distance difference from the 3D microphone 100 to the sound source, and calculates the calculated distance difference using a triangulation method. The dimension position is calculated (S106, S108).

Intrusion discriminator 402 compares the three-dimensional position of the sound source calculated by the sound source position measurement unit 300 with the three-dimensional size of the guard zone pre-stored in the intrusion monitoring memory 404, the boundary of the guard zone or the interior of the guard zone If it is not ignored guard area is determined as an intrusion (S110).

Subsequently, when the intrusion determination unit 400 detects the intrusion, the controller 600 synthesizes the intrusion alarm and the sound into analog sound through the sound synthesizer 506 and transmits the analog sound to the control center (S112).

The method for setting the above-described critical expenses area is as follows.

The sound source position measurer 306 controls the sound synthesizer 506 to generate a sound wave signal for measurement, and transmits the generated sound wave signal for measurement to the mobile speaker 720 by wire or wirelessly through the control unit 600. As a result, when the mobile speaker 720 receives the measurement sound wave signal from the sound synthesizer 506, the mobile speaker 720 generates the measurement sound.

The sound source position measuring unit 306 receives the measurement sound generated from the mobile speaker 720 through the 3D microphone 100 and the analog processing unit 200, and measures the arrival time difference reaching each 3D microphone 100, and the arrival time. The difference in distance from the 3D microphone 100 to the sound source is calculated using the difference.

The sound source position measurer 306 calculates the three-dimensional position of the important guard area using the triangulation method, and stores the calculated distance difference automatically in the intrusion monitoring memory 404 of the intrusion discrimination unit 400.

Important guard zones can register the location of safes and showcases with important items as guard zones in guard zones.

The sound source position measurer 306 may raise a microphone sensitivity so that a small sound signal may be detected when an acoustic signal occurs in a critical guard area.

The method of setting the ignore guard area is the same as the method of setting the critical guard area described above. The neglected guard zone can register as a neglected zone where a device such as a telephone, facsimile or refrigerator, which may generate noise, is installed in the guard zone.

The intrusion discriminator 402 does not determine whether an invasion of the guard area occurs when the acoustic signal is generated in the ignored guard area (does not generate an intrusion alarm).

The sound source position measuring unit 300 registers as an important guard area indicating an area to increase the detection sensitivity of the guard area, registers an ignore guard area indicating an area in which the noise generated can be ignored, and It increases the sensitivity of detection and eliminates the sound generated in the ignore guard zone.

Critical and Negative guard zones can reduce misinformation by arbitrarily adjusting a range of zones from a central location.

In addition, the critical guard zone and the ignored guard zone can be newly registered and released.

The sound source position measurer 306 may generate a guide voice during registration of the critical guard zone and the ignored guard zone through the sound processor 500 to guide the fixed speaker 710 and inform the measurement result by voice. For example, the critical guard area you just set up is 3.7 meters wide, 4.2 meters long, and 1.2 meters high.

The embodiments of the present invention described above are not implemented only by the apparatus and / or method, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

1 is a view showing a schematic configuration of an intrusion detection apparatus using a three-dimensional sound source position measurement technology according to an embodiment of the present invention.

Figure 2 is a view showing a plurality of 3D microphones distributed in three dimensions of the guard zone according to an embodiment of the present invention.

3 is a block diagram schematically illustrating an internal configuration of an analog processor according to an exemplary embodiment of the present invention.

4 is a block diagram schematically illustrating an internal configuration of a sound source position measuring unit according to an exemplary embodiment of the present invention.

5 is a block diagram schematically illustrating an internal configuration of an intrusion discrimination unit according to an exemplary embodiment of the present invention.

6 is a block diagram schematically showing the internal configuration of the sound processing unit according to the embodiment of the present invention.

7 is a view for explaining the intrusion detection method using the three-dimensional sound source position measurement technology according to an embodiment of the present invention.

Claims (16)

(a) generating each particular beep from a mobile speaker located at each corner of the guard zone and receiving each particular beep through a plurality of microphones, the first arrival of each particular beep reaching each microphone; Calculating first distance differences from each sound source of each particular beep based on time differences, and calculating a three-dimensional size of the guard zone based on the calculated first distance differences of each sound source; (b) when a damaged acoustic signal is generated due to an intrusion in the guard zone, measuring the second arrival time differences of the damaged acoustic signal received by the plurality of microphones and reaching each of the microphones; Calculating a three-dimensional position of the specific sound source based on the calculated second distance difference from the specific sound source of the damaged sound signal; (c) comparing the calculated three-dimensional position of the specific sound source with the calculated three-dimensional size of the guard zone to determine whether the guard zone is within the guard zone and is set to ignore noise generated; And (d) generating an intrusion alarm and transmitting the damaged acoustic signal to the control center when the calculated three-dimensional position of the specific sound source is within the guard zone and is not the ignored guard zone; Intrusion detection method comprising a. According to claim 1, Intrusion detection method characterized in that the plurality of microphones are distributed and installed in each corner of the guard area. According to claim 1, Intrusion detection method characterized in that to install a plurality of microphones at a predetermined interval spaced at one corner of the guard area. Generating a specific beep from a mobile speaker located at each corner of the guard zone so as to receive each particular beep through a plurality of microphones arranged in a particular area and to receive a first of each particular beep that reaches the respective microphone; Calculate first distance differences from each sound source of each particular beep based on arrival time differences, calculate a three-dimensional size of the guard zone based on the calculated first distance differences of each sound source, When a damaged acoustic signal is generated due to an intrusion in the guard zone, the damaged acoustic signal is received by the plurality of microphones and when the second arrival time differences of the damaged acoustic signals reaching the respective microphones are measured, the damaged acoustic signal is measured. A sound source position measurement unit configured to calculate a second distance difference from a specific sound source of and calculate a three-dimensional position of the specific sound source based on the calculated second distance difference; And Intrusion determination unit for determining whether the intrusion into the guard zone by determining whether the three-dimensional position of the calculated specific sound source is within the guard zone by comparing with the three-dimensional size of the guard zone; Intrusion detection device comprising a. The method of claim 4, wherein When the intrusion determination unit detects the intrusion of the guard area, the control unit for controlling the procedure of transmitting the intrusion alert and transmits the intrusion alert and the broken sound signal to the control center Intrusion detection device further comprising. The method according to claim 4 or 5, The sound source position measurement unit receives a third measurement sound through the plurality of microphones in the mobile speaker located in the area of the detection sensitivity of the guard zone, the third arrival time when the third measurement sound reaches the respective microphones When the differences are measured, a third distance difference is calculated from the third specific sound source of the third measured sound, and the three-dimensional position of the third specific sound source is calculated based on the calculated third distance difference, and registered as an important expense area. Intrusion detection apparatus, characterized in that. The method according to claim 4 or 5, The sound source position measuring unit receives a fourth measurement sound through the plurality of microphones in the mobile speaker located in an area where the noise generated in the guard area can be ignored, and the fourth measurement sound reaches each of the microphones; When the four arrival time differences are measured, a fourth distance difference is calculated from the fourth specific sound source of the fourth measurement sound, and the three-dimensional position of the fourth specific sound source is calculated based on the calculated fourth distance difference to ignore the guard area. Intrusion detection apparatus characterized in that the registration. The method according to claim 4 or 5, The sound source position measuring unit registers a critical guard area indicating an area to increase the detection sensitivity among the guard zones, registers a ignore guard area indicating an area in which the noise generated can be ignored, and generates sound from the registered critical guard area. Intrusion detection device, characterized in that to increase the detection sensitivity and to remove the sound generated in the registered guard area. The method according to claim 4 or 5, The intrusion determination unit determines whether the ignored guard zone is within the guard zone and is set to ignore noise generated by comparing the three-dimensional position of the calculated specific sound source with the calculated three-dimensional size of the guard zone. The intrusion detection device, characterized in that for generating the intrusion alarm if the three-dimensional position of the within the guard zone and not the ignored guard zone. 6. The method of claim 5, The control unit controls to generate a measurement beep every predetermined time through a speaker installed on one side of the guard zone, and receives the measurement beeps through the plurality of microphones so that the measurement of the delay time and the signal arriving at each of the microphones Intrusion detection device characterized in that the control to measure the magnitude in the sound source position measuring unit and whether each microphone is in the normal position or the sensitivity of each microphone is normal. The method according to claim 4 or 5, The intrusion determination unit calculates the position of each sound source of the plurality of sound signals through the sound source position measuring unit, and if it is determined that the position of each sound source approaching the guard zone from the guard zone, characterized in that for transmitting a preliminary alert Intrusion detection device. The method according to claim 4 or 5, A sound processor for improving the directivity and sensitivity of the microphone by processing a sound signal received from the same sound source received by the plurality of microphones in the form of a beamforming microphone Intrusion detection device further comprising. 6. The method of claim 5, The controller generates sound using an artificially impacting device at the outside of the guard zone, and controls to correct the sensitivity and position of the sound source position measuring unit so that the generated sound is detected as an intrusion. Device. The method according to claim 4 or 5, The sound source position measuring unit is a sound generated secondarily by external noise when the calculated three-dimensional position of the specific sound source is determined outside the guard zone and delays a predetermined time to receive a plurality of sound signals to the plurality of microphones. Intrusion detection device, characterized in that the removal. The method according to claim 4 or 5, And the sound source position measuring unit removes the sound signal received after the damaged sound signal is received by the plurality of microphones as a signal according to the reflection wave effect. The method according to claim 4 or 5, The sound source position measuring unit intrudes when the three-dimensional position of the calculated specific sound source is out of the guard zone in comparison with the three-dimensional size of the guard zone and removes the sound generated outside the guard zone. Sensing device.

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