KR20110138711A - Security robot and method for controlling security robot - Google Patents

Security robot and method for controlling security robot Download PDF

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Publication number
KR20110138711A
KR20110138711A KR1020100058756A KR20100058756A KR20110138711A KR 20110138711 A KR20110138711 A KR 20110138711A KR 1020100058756 A KR1020100058756 A KR 1020100058756A KR 20100058756 A KR20100058756 A KR 20100058756A KR 20110138711 A KR20110138711 A KR 20110138711A
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KR
South Korea
Prior art keywords
security
intrusion
robot
algorithm
security robot
Prior art date
Application number
KR1020100058756A
Other languages
Korean (ko)
Inventor
김준호
Original Assignee
주식회사 에스원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 주식회사 에스원 filed Critical 주식회사 에스원
Priority to KR1020100058756A priority Critical patent/KR20110138711A/en
Publication of KR20110138711A publication Critical patent/KR20110138711A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/002—Manipulators for defensive or military tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)

Abstract

The security robot operating in conjunction with the security system in charge of security of the security area has a first judgment processing unit and a sudden obstacle to determine whether an intrusion has occurred or an inaccurate recognition of the intrusion based on the security algorithm and accumulated information, And a second judgment processor configured to collect environment change information corresponding to the change, and to control the operation of each engine based on at least one of the environment change information and a result of determining whether the intrusion has occurred or whether the intrusion is recognized incorrectly.

Description

Security robot and its control method {SECURITY ROBOT AND METHOD FOR CONTROLLING SECURITY ROBOT}

The present invention relates to a security robot and a method for controlling the security robot.

In general, the security system detects a signal from a sensor that can detect external intrusion inside a specific area, such as an office or a general home, and sends a warning signal to a security company or police box that acts as a security agent. The security personnel are dispatched.

Such a security system may not only transmit an alarm signal due to a malfunction of the sensor, but also require a manager to directly check the crime prevention area even after the alarm signal is transmitted, thus causing a problem in confirming a crime. Therefore, the security system can apply the robot within a specific area, so that the verification procedure can be performed before the alarm signal is transmitted to the outside.

However, the robot can only operate if it receives a command from a particular device. In other words, it can be seen that it is very difficult for a robot to have the required level of cognitive ability to perform security.

The technical problem to be achieved by the present invention is to provide a security robot and its control method capable of judging like a human being and acting and reacting autonomously.

According to a feature of the present invention for achieving the above object, when the security system requests the security robot to confirm whether an intrusion occurred in the security area, the method for controlling the security robot is

Statistically determining a result of determining whether an intrusion has occurred by using a specific security algorithm from previous detection information received from at least one sensing device included in the security robot, and adjusting a sensitivity of the security algorithm based on the statistical result Receiving the current sensing information from the at least one sensing device, and determining whether an intrusion has occurred or incorrectly recognized the intrusion by using a security algorithm having adjusted sensitivity, and a sudden obstacle appears within a specific radius or an external environment is changed. Collecting the environment change information corresponding to whether the information is changed, and controlling the operation of each engine of the security robot based on at least one of the environment change information, a result of determining whether an intrusion has occurred or whether an intrusion has been incorrectly recognized.

According to another aspect of the invention, the security robot that works in conjunction with the security system that is responsible for the security of the security area

A first judgment processing unit that determines whether an intrusion has occurred or has incorrectly recognized the intrusion based on the security algorithm and the accumulated information, and collects environment change information corresponding to a sudden obstacle or an external environment change; And a second determination processing unit that controls the operation of each engine based on at least one of the results of determining whether the intrusion has occurred or whether the intrusion has been recognized incorrectly.

According to an embodiment of the present invention, the security robot can make an optimal judgment by accumulating and statistically collecting specific data, such as a human being accumulating experience, thinking and judging.

According to an embodiment of the present invention, the method for controlling the security robot by allowing the security robot and the security system to operate in conjunction, it is possible to allow the security robot to determine the task itself and to operate autonomously.

1 is a view showing an environment to apply a security robot according to an embodiment of the present invention.
2 is a view schematically showing a security robot according to an embodiment of the present invention.
3 is a flowchart illustrating a method of controlling a security robot according to an embodiment of the present invention.

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. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. 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.

Hereinafter, a security robot and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, the security robot according to an embodiment of the present invention operates in conjunction with the security system.

1 is a view showing an environment to apply a security robot according to an embodiment of the present invention.

As shown in FIG. 1, the environment according to an embodiment to which the present invention is applied is a security system 10, a robot operating system 20, a wireless access point (hereinafter referred to as a “wireless AP”) 30 And a security robot 40.

The security system 10 is responsible for the security of the security area. At this time, the security system 10 operates in a guard mode or a release mode. Here, the guard mode is a mode in which the security system 10 is performing a guard, the release mode is a mode in which the security system 10 does not perform the guard.

In the security mode, the security system 10 is able to recognize an external intrusion into the security area, for example, when a predetermined signal is recognized by a specific device such as a sensor or a camera, checks whether an intrusion occurs in the security area. The intrusion confirmation signal is transmitted to the security robot 40 through the wireless AP (30).

The robot operating system 20 manages performance information that the security robot 40 should perform. Here, the performance information includes a time, an operation, and the like corresponding to a schedule to be performed by the security robot 40. In addition, the robot operating system 20 transmits performance information to the security robot 40 through the AP 30.

The security robot 40 may determine whether an abnormality of a point corresponding to the intrusion confirmation signal is determined based on the security-related algorithm and the accumulated data, based on the determination result of the first determination processing unit A and the first determination processing unit A. And a second decision processing unit (B) for controlling the operation of 40.

Next, the security robot 40 operates in an operation mode corresponding to the determination result of the second determination processing unit B. Here, the operation mode includes a security mode, patrol mode, dispatch mode, maintenance mode, guidance mode and the like. In addition, the operation of the security robot 40 corresponding to each operation mode corresponds to the performance information managed by the robot operating system 20.

As described above, the security robot 40 according to the embodiment of the present invention comprises the first judgment processing unit A and the second judgment processing unit B like the human brain, that is, the left brain and the right brain, thereby accumulating human experience. As in the case of thinking and judging, specific data can be accumulated and statisticalized for optimal judgment.

Next, the structure of the security robot 40 according to an embodiment of the present invention will be described in detail with reference to FIG.

2 is a view schematically showing a security robot according to an embodiment of the present invention.

First, the security robot 40 includes a sensing device (not shown), such as a microphone, an image camera, a laser scan, a thermal imaging camera, a motion sensor, a vibration and a touch sensor, and the like.

As shown in FIG. 2, the security robot 40 includes a first determination processing unit A and a second determination processing unit B. FIG.

The first determination processing unit A includes a first communication unit 410, a sensitivity processing unit 420, a recognition processing unit 430, and a security processing unit 440. In addition, the second determination processing unit B includes a second communication unit 450, a robot map processing unit 460, and a robot operation processing unit 470.

The first communication unit 410 and the second communication unit 450 communicate with the security system 10 and the robot operating system 20 through the wireless AP 30.

The sensitivity processor 420 statistics the results determined by the security processor 440, that is, the accumulated information, and adjusts the sensitivity of the algorithm included in the security robot 40 based on the statistical information. In addition, the sensitivity processing unit 420 may provide statistical information to the user and allow the user to directly set the sensitivity of the optimal algorithm.

According to an embodiment of the present invention, the sensitivity processing unit 420 may minimize the misjudgment when the security robot 40 determines whether an intrusion abnormality occurs by statistically accumulating the accumulated information.

The recognition processor 430 recognizes an external voice and an image using a microphone and a video camera, and uses the corresponding algorithm to determine whether an intrusion has occurred from the outside at a point where the security robot 40 is responsible for security. Or determine whether the intrusion was mistaken. To this end, the recognition processing unit 430 includes a voice recognition algorithm for determining based on the result recognized using the microphone, and an image recognition algorithm for determining based on the result recognized using the image camera.

The crime prevention processing unit 440 includes a person who is not authorized at the point where the security robot 40 is responsible for security by using the corresponding algorithm to detect information received from at least one device among an image camera, a laser scan, and a thermal imaging camera. It is determined whether or not a prohibited article is brought in or a fire or the like (hereinafter referred to as “intrusion abnormality”) occurs. To this end, the crime prevention processing unit 440 is an image intrusion detection algorithm for determining whether an intrusion abnormality occurred based on the information received from the image camera, a laser intrusion detection algorithm for determining whether an intrusion abnormality occurred based on the information received from the laser scan, and It includes a thermal image intrusion detection algorithm that determines whether an intrusion abnormality occurred based on the information received from the thermal imaging camera.

The robot map processor 460 provides the robot motion processor 470 with position information including the current first position coordinates of the security robot 40 and the second position coordinates to which the security robot 40 should move.

For example, when the security robot 40 receives the intrusion confirmation signal from the security system 10 during the security mode or the patrol mode, the robot map processing unit 460 operates the second position coordinates corresponding to the intrusion confirmation signal. It is provided to the processor 470. Then, the robot motion processing unit 470 switches the operation mode of the security robot 40 to dispatch mode, and controls the operation of the robot so that the security robot 40 can move to the second position coordinate.

The robot motion processor 470 collects information received from at least one device among a motion sensor, a laser scan, a vibration, and a touch sensor, that is, environment change information, using an instantaneous change response algorithm. Here, the environment change information is information corresponding to whether a sudden obstacle appears within a specific radius of the security robot 40 or the external environment changes.

Next, the robot motion processing unit 470 uses at least one of the result of the environment change information, the result determined by the recognition processing unit 430 and the crime prevention processing unit 440, that is, whether the intrusion has occurred or whether the intrusion has been incorrectly recognized. 40) decide the operation and operation mode. In addition, the robot operation processor 470 controls the operation of the security robot 40 by transmitting a corresponding command signal to each engine of the security robot 40 corresponding to the determined operation of the security robot 40. Here, each engine of the security robot 40 may include a facial expression of the security robot 40, a robot arm, a drive unit and the like.

Next, a method of controlling a security robot according to an embodiment of the present invention will be described in detail with reference to FIG. 3.

3 is a flowchart illustrating a method of controlling a security robot according to an embodiment of the present invention.

First, the security robot 40 operates in conjunction with the security system 10 and the robot operating system 20.

As shown in FIG. 3, when a predetermined signal is recognized by a specific device in the guard area, the security system 10 transmits an intrusion confirmation signal to the security robot 40 to confirm whether an intrusion has occurred in the guard area. (S301). In addition, the robot operating system 20 transmits performance information including a time, an operation, and the like corresponding to a schedule to be performed by the security robot 40 to the security robot 40 (S301).

Next, the security robot 40 statistically analyzes the results of determining whether an intrusion abnormality has occurred using the corresponding algorithm using the information transmitted from the sensing device, and adjusts the sensitivity of the algorithm based on the statistical information (S302). The algorithm may include a voice recognition algorithm, an image recognition algorithm, an image intrusion detection algorithm, a laser intrusion detection algorithm, a thermal image intrusion detection algorithm, an instantaneous change corresponding algorithm, and the like.

The security robot 40 recognizes an external voice and an image by using a microphone and an image camera among the sensing devices (S303). Next, the security robot 40 determines whether an intrusion occurs from the outside or incorrectly recognizes the intrusion at the point where the security robot 40 is responsible for security by using a result of recognizing the voice and the image (S304). ).

The security robot 40 receives sensing information from at least one device of an image camera, a laser scan, and a thermal imaging camera (S305). The security robot 40 determines whether an intrusion abnormality has occurred at a corresponding point using the detection information using the corresponding algorithm (S306).

The security robot 40 checks the first position coordinate corresponding to its current position and the second position coordinate corresponding to the intrusion confirmation signal, that is, the position information to be moved (S307).

The security robot 40 uses an instantaneous change response algorithm to receive information received from at least one device among a motion sensor, a laser scan, a vibration, and a touch sensor, and an environment corresponding to a sudden obstacle or a change in the external environment within a specific radius. The change information is collected (S308).

The security robot 40 moves to the second location coordinates, and controls the operation of each engine by using at least one of the collected environmental change information, the result of determining whether the intrusion has occurred or whether the intrusion has been incorrectly recognized (S309). Here, each engine of the security robot 40 may include a facial expression of the security robot 40, a robot arm, a drive unit and the like.

Next, the security robot 40 controls the operation of each engine, that is, transmits its state information to the security system 10 and the robot operating system 20 (S310).

As a result, the security robot 40 according to the embodiment of the present invention may accumulate and statistically determine specific data and make an optimal judgment, as humans accumulate experience and think and judge.

The embodiments of the present invention described above are not only implemented by the apparatus and method but may be implemented through a program for realizing the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded, The embodiments 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.

Claims (12)

In the method for controlling the security robot when the security system has requested the security robot to confirm whether an intrusion occurred in the security area,
Statistically determining the result of the intrusion occurred using a specific security algorithm from the previous detection information received from the at least one detection device included in the security robot,
Adjusting the sensitivity of the security algorithm based on the statistical result;
Receiving current sensing information from the at least one sensing device, and determining whether an intrusion has occurred or if the intrusion has been incorrectly recognized by using a security algorithm having adjusted sensitivity;
Collecting environmental change information corresponding to the appearance of sudden obstacles or changes in the external environment within a certain radius, and
Controlling the operation of each engine of the security robot based on at least one of the environmental change information, the result of determining whether an intrusion has occurred or whether the intrusion has been recognized incorrectly;
Security robot control method comprising a. The method of claim 1,
Controlling the operation of each engine of the security robot
Confirming location information including a first location coordinate corresponding to a current location of the security robot and a second location coordinate corresponding to a location to which the security robot should move; and
Controlling the security robot to move to the second position coordinates, and controlling an operation of each engine
Security robot control method comprising a. The method of claim 1,
The current sensing information includes information received from at least one sensing device of an image camera, a laser scan, and a thermal imaging camera.
The determining step
Determining whether an intrusion has occurred using the video intrusion detection algorithm based on the detection information received from the video camera;
Determining whether an intrusion has occurred using the laser intrusion detection algorithm based on the detection information received from the laser scan; and
Determining whether intrusion has occurred using the thermal image intrusion detection algorithm based on the detection information received from the thermal imaging camera;
Security robot control method comprising a. The method of claim 1,
The detection information includes a result of recognizing an external voice and an image using a microphone and an image camera,
The determining step
Recognizing an external voice using the microphone, and determining whether the intrusion was recognized incorrectly by using a speech recognition algorithm, and
Recognizing an external image using the video camera, and determining whether the intrusion is incorrectly recognized using a voice recognition algorithm based on the recognized result.
Security robot control method comprising a. The method of claim 1,
The collecting step
And collecting the environment change information from at least one sensing device among a motion sensor, a laser scan, a vibration, and a touch sensor using an instantaneous change response algorithm. The method of claim 1,
Adjusting the sensitivity of the security algorithm
Providing the statistical result to a user, and
The security robot control method for adjusting the sensitivity of the security algorithm by receiving a sensitivity setting value of the security algorithm from the user. In the security robot operating in conjunction with the security system in charge of security of the security area,
A first judgment processing unit that determines whether an intrusion has occurred or has incorrectly recognized the intrusion based on the security algorithm and the accumulated information, and
Collecting a change information on the environment corresponding to the sudden occurrence of an obstacle or a change in the external environment, and controlling the operation of each organization based on at least one of the result of the determination of the change in the environment and whether the intrusion has occurred or the intrusion is incorrectly recognized. Judgment processing unit
Security robot comprising a. The method of claim 7, wherein
The first judgment processing unit
A sensitivity processor configured to statistics the accumulated information and adjust the sensitivity of the security algorithm based on the statistical information;
Recognition processing unit for recognizing external voice and video, and judging whether the intrusion was wrongly recognized using a specific security algorithm, and
Security processing unit that determines whether an intrusion occurred by using a specific security algorithm based on the detection information received from the detection device
Security robot comprising a. The method of claim 8,
The recognition processing unit
And a voice recognition algorithm corresponding to a result of recognizing the voice and an image recognition algorithm corresponding to a result of recognizing the image. The method of claim 7, wherein
The second judgment processing unit
A robot map processor for identifying location information including a first location coordinate corresponding to a current location and a second location coordinate corresponding to a location to be moved; and
The robot motion processor which collects the environment change information using an instantaneous change corresponding algorithm and determines an operation and an operation mode based on the environment change information and the result of the first determination processor.
Security robot comprising a. The method of claim 10,
The operation mode includes a security mode, patrol mode, dispatch mode, maintenance mode, guidance mode security. The method of claim 7, wherein
And a sensing device including at least one of the microphone, an image camera, a laser scan, a thermal imaging camera, a motion sensor, a vibration, and a touch sensor.
KR1020100058756A 2010-06-21 2010-06-21 Security robot and method for controlling security robot KR20110138711A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101537959B1 (en) * 2013-10-08 2015-07-23 김병준 wild animals extermination robot and using Driving method Thereof
KR20150106251A (en) * 2014-03-11 2015-09-21 한화테크윈 주식회사 Emergency response system
KR20190122900A (en) * 2013-03-14 2019-10-30 구글 엘엘씨 Security in a smart-sensored home
CN111277816A (en) * 2018-12-05 2020-06-12 北京奇虎科技有限公司 Testing method and device of video detection system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190122900A (en) * 2013-03-14 2019-10-30 구글 엘엘씨 Security in a smart-sensored home
US10853733B2 (en) 2013-03-14 2020-12-01 Google Llc Devices, methods, and associated information processing for security in a smart-sensored home
KR101537959B1 (en) * 2013-10-08 2015-07-23 김병준 wild animals extermination robot and using Driving method Thereof
KR20150106251A (en) * 2014-03-11 2015-09-21 한화테크윈 주식회사 Emergency response system
CN111277816A (en) * 2018-12-05 2020-06-12 北京奇虎科技有限公司 Testing method and device of video detection system
CN111277816B (en) * 2018-12-05 2024-05-14 北京奇虎科技有限公司 Method and device for testing video detection system

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