KR20210050702A - INTRUSION DETECTION DEVICE THAT DETECTS INTRUSIONS THROUGH MULTIPLE LiDAR SENSORS INSTALLED IN A SECURE AREA AND OPERATING METHOD THEREOF - Google Patents

Abstract

Disclosed are an intrusion detection device for detecting intrusions through a plurality of lidar sensors installed in a security area and an operating method thereof. The present invention provides the intrusion detection device for detecting intrusion through the plurality of lidar sensors installed in the security area and an operating method thereof, thereby supporting to maintain security by notifying a user that an object, which is an intrusion detection target, exists, and displaying a warning message to notify an intrusion state.

Description

Intrusion detection device that detects intrusion through multiple lidar sensors installed in the security area and its operation method {INTRUSION DETECTION DEVICE THAT DETECTS INTRUSIONS THROUGH MULTIPLE LiDAR SENSORS INSTALLED IN A SECURE AREA AND OPERATING METHOD THEREOF}

The present invention relates to an intrusion detection apparatus for detecting intrusion through a plurality of lidar sensors installed in a security area and a method of operating the same.

LiDAR means that after emitting a laser beam, it detects changes in time, intensity, frequency, etc., that the light is reflected from surrounding targets and returns, and measures the distance to the object, so that you can know the appearance of your surroundings. It means the technology and its device.

These riders can measure not only the distance to the target object, but also the moving speed, direction, and temperature, so it can be used in various fields such as weather observation, precise terrain observation, landing guidance of an aircraft, recognition of the surroundings of autonomous vehicles, and analysis of surrounding atmospheric matter. Can be utilized.

On the other hand, people are paying attention to checking and reinforcing security as crimes caused by intrusion into houses become an issue, and cases in which important technologies inside the company are leaked frequently occur.

Conventionally, lidar sensors are mainly used to assist the driver by detecting the traffic environment around the vehicle being driven.If such lidar sensors are used to detect external intrusion within the security area, the object that is the target of intrusion detection It will be possible to detect intrusion efficiently by utilizing the advantage of the lidar sensor that can more accurately detect and collect 3D image information including distance information.

Specifically, it can be used to prevent crimes caused by intrusion to dwellings or to prevent the leakage of important technologies inside the company by intruders, and by installing them in security areas such as industrial sites and using them for the purpose of monitoring external intruders, security is improved. You will be able to contribute to strengthening.

Therefore, there is a need for research on a technique for detecting intrusion through a plurality of lidar sensors installed in a security area.

The present invention provides an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security area and an operation method thereof, thereby recognizing that an object to be detected intrusion exists to the user, and a warning message to inform the intrusion state We want to support it to maintain security by marking it.

An intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security zone according to an embodiment of the present invention is provided through n (n is a natural number of 2 or more) lidar (LiDAR) sensors installed at different points in the security zone. By emitting a laser beam in a preset direction, a separation distance measuring unit that measures the separation distance between the n lidar sensors and the object to be detected intrusion, and the separation distance measured by each of the n lidar sensors is one column A matrix generator that generates a 1 xn first matrix by assigning it as a component, and calculates a Hadamard product between the 1 xn first matrix and a predetermined 1 xn weight matrix. A feature vector generator for generating a weighting matrix and generating an n-dimensional feature vector including values constituting the 1 xn weighting matrix as each component, the n-dimensional feature vector, and an object A vector similarity calculation unit that calculates a vector similarity between n-dimensional reference vectors set in advance to indicate that the state is in a state, compares the vector similarity with a predetermined threshold value, and if it is determined that the vector similarity exceeds the threshold value, an object When it is determined that is present and the vector similarity is determined to be less than or equal to the threshold value, a determination unit that determines that the object does not exist, and when it is determined that the object exists, informs that the intrusion state It includes a warning message display unit for displaying a warning message for the screen.

In addition, the operation method of the intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention is a laser in a preset direction through n lidar sensors installed at different points in the security area. Measuring the separation distance between the n lidar sensors and the object to be intrusion detection target by radiating light rays, by assigning the separation distance measured by each of the n lidar sensors as a component constituting one row 1 Generating a first matrix of xn, by calculating a Hadamard product between the first matrix of 1 xn and a weight matrix of 1 xn predetermined to generate a weighting matrix of 1 xn, and calculating the weighting matrix of 1 xn Generating an n-dimensional feature vector including constituent values as each component, calculating a vector similarity between the n-dimensional feature vector and a preset n-dimensional reference vector to indicate that an object exists Comparing the vector similarity with a predetermined threshold value, if it is determined that the vector similarity exceeds the threshold value, it is determined that an object exists, and if it is determined that the vector similarity is less than the threshold value, Determining that the object does not exist, and when it is determined that the object exists by the determining step, displaying a warning message for informing that the intrusion state is displayed on the screen.

The present invention provides an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security area and an operation method thereof, thereby recognizing that an object to be detected intrusion exists to the user, and a warning message to inform the intrusion state Can be displayed to help maintain security.

1 is a diagram showing the structure of an intrusion detection apparatus for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention.
2 is a flow chart illustrating a method of operating an intrusion detection apparatus for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. This description is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. While describing each drawing, similar reference numerals have been used for similar elements, and unless otherwise defined, all terms used in the present specification including technical or scientific terms refer to common knowledge in the technical field to which the present invention pertains. It has the same meaning as commonly understood by someone who has it.

In this document, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated. In addition, in various embodiments of the present invention, each component, function blocks, or means may be composed of one or more sub-components, and the electrical, electronic, and mechanical functions performed by each component are electronic. A circuit, an integrated circuit, or an application specific integrated circuit (ASIC) may be implemented with various known devices or mechanical elements, and may be implemented separately or two or more may be integrated into one.

On the other hand, the blocks of the attached block diagram and the steps in the flowchart are computer program instructions that are mounted on a processor or memory of equipment capable of processing data such as a general-purpose computer, a special-purpose computer, a portable notebook computer, and a network computer to perform specified functions. It can be interpreted as meaning. Since these computer program instructions can be stored in a memory provided in a computer device or in a memory readable by a computer, the functions described in the blocks in the block diagram or in the steps in the flowchart are produced as a product containing the instruction means for performing this. It could be. In addition, each block or each step may represent a module, segment, or part of code containing one or more executable instructions for executing the specified logical function(s). In addition, it should be noted that in some alternative embodiments, functions mentioned in blocks or steps may be executed in a different order. For example, two blocks or steps shown in succession may be performed substantially simultaneously or may be performed in reverse order, and in some cases, some blocks or steps may be omitted.

1 is a diagram showing the structure of an intrusion detection apparatus for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention.

Referring to FIG. 1, an intrusion detection device 110 for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention includes a separation distance measurement unit 111, a matrix generation unit 112, A characteristic vector generation unit 113, a vector similarity calculation unit 114, a determination unit 115, and a warning message display unit 116 are included.

The separation distance measurement unit 111 radiates a laser beam in a preset direction through n (n is a natural number of 2 or more) LiDAR sensors installed at different points in the security area, thereby invading the n number of lidar sensors. Measure the separation distance between objects to be detected.

Here, the rider refers to a technique of measuring the distance to the target by using a laser beam of a very short wavelength, and the separation distance measuring unit 111 radiates a laser beam in a preset direction through the lidar sensor, and then intrudes. By measuring the return time of the laser beam reflected and returned by the object to be detected, the distance between the lidar sensor and the object can be measured. In addition, as the number of lidar sensors increases, objects can be detected more precisely.

Specifically, if an object to be detected intrusion exists, the return time of the laser beam reflected by the object is relatively short, so the separation distance between the lidar sensor and the object will be measured short, and if the object does not exist, the laser beam goes into the air. Since will be emitted, the return time to return will be longer, and the separation distance between the lidar sensor and the object will be measured.

The matrix generator 112 generates a 1 x n first matrix by allocating the separation distance measured by each of the n lidar sensors as a component constituting one column.

For example, assuming that n is '3' and the separation distances measured by the three lidar sensors are '20', '10', and '30', respectively, the matrix generator 112 is '20', By assigning '10' and '30' as components constituting one column, a 1 x 3 matrix of'[20 10 30]' can be generated.

The feature vector generator 113 generates a 1xn weighting matrix by calculating a Hadamard product between the 1xn first matrix and a predetermined 1xn weighting matrix, and generates a 1xn weighting matrix. An n-dimensional feature vector including values constituting the arithmetic matrix as each component is generated.

Here, the Hadamard product refers to an operation that multiplies each component in a matrix or vector of the same size. When there are two matrices'[abc]' and'[xyz]', the Hadamard product between the two matrices is calculated. The matrix can be expressed as'[ax by cz]'.

In this case, according to an embodiment of the present invention, n weight components included in the weight matrix may be composed of values greater than 0 and less than 1, and a total sum of the n weight components may be 1.

For example, according to the example described above,'n=3', the first matrix of 1 xn is'[20 10 30]', and the weight matrix of 1 xn is previously set to'[0.4 0.2 0.4]' by the developer. Suppose it is fixed. Then, the feature vector generator 113 calculates the Hadamard product between'[20 10 30]' which is a 1 x 3 matrix and'[0.4 0.2 0.4]' which is a weight matrix of 1 x 3, so that the weight of 1 x 3 An operation matrix'[8 2 12]' can be generated, and values of '8', '2', and '12' constituting the 1 x 3 weighted operation matrix'[8 2 12]' are each It is possible to create a three-dimensional feature vector (8, 2, 12) that is included as a component.

The vector similarity calculation unit 114 calculates a vector similarity between the n-dimensional feature vector and a preset n-dimensional reference vector for indicating that an object exists.

In this case, according to an embodiment of the present invention, the calculation of the vector similarity between the n-dimensional feature vector and the n-dimensional reference vector may be performed according to Equation 1 below.

Here, M denotes the vector similarity between two vectors, C denotes the cosine similarity between the two vectors, D denotes the Euclidean distance between the two vectors, and the cosine similarity C between the two vectors is as follows. According to Equation 2, the Euclidean distance D between the two vectors may be calculated according to Equation 3 below.

Here, C is the cosine similarity between vectors A and B, A _i is the i-th component of vector A, B _i is the i-th component of vector B, and cosine similarity C has a value between -1 and 1, The larger the value, the more similar vectors.

In Equation 3, D denotes the Euclidean distance, and pi and qi denote the i-th components included in the two vectors. As the Euclidean distance between two vectors is smaller, the two vectors can be regarded as similar vectors, and as the Euclidean distance between two vectors is larger, the two vectors can be regarded as dissimilar vectors.

Therefore, as the vector similarity between the n-dimensional feature vector and the n-dimensional reference vector increases, the n-dimensional feature vector can be regarded as a vector similar to the n-dimensional reference vector. The feature vector can be regarded as a vector similar to the n-dimensional reference vector.

For example, if'n=3' and a preset three-dimensional reference vector for indicating that an object exists is (d1, d2, d3), the vector similarity calculation unit 114 The vector similarity between the three-dimensional feature vectors (8, 2, 12) and the three-dimensional reference vectors (d1, d2, d3) can be calculated according to Equation 1 above.

Thereafter, the determination unit 115 compares the vector similarity with a predetermined threshold, and when it is determined that the vector similarity exceeds the threshold value, determines that an object exists, and the vector similarity is the threshold value. If it is confirmed as follows, it is determined that the object does not exist.

When it is determined that the object exists by the determination unit 115, the warning message display unit 116 displays a warning message to inform the intrusion state on the screen.

At this time, according to an embodiment of the present invention, the warning message display unit 116 classifies the dangerous state according to the proximity of the object and displays the warning message differently. (118) and a warning message display processing unit 119 may be included.

The warning level table maintenance unit 117 records a range of values in which upper and lower limit values for different predetermined vector similarities corresponding to a plurality of different warning levels and the plurality of warning levels are specified. Save and maintain the warning level table.

For example, information may be recorded in the warning level table as shown in Table 1 below.

Multiple warning levels Range values for vector similarity caution 1 to 1.3 boundary 1.3 to 1.7 danger 1.7 ~

When it is determined that the object exists by the determination unit 115, the warning level checking unit 118 corresponds to a range value of the vector similarity to which the vector similarity belongs from the warning level table and records a first warning. Check the grade.

In this way, when the first warning level is confirmed, the warning message display processing unit 119 displays a warning message for notifying that the intrusion status according to the first warning level is detected on the screen.

For example, if the vector similarity calculated by the vector similarity calculating unit 114 is '1.6', the warning level checking unit 118 belongs to the vector similarity '1.6' from the warning level table shown in Table 1 above. You can check the warning level of'Border' recorded corresponding to the value in the range of '1.3 ~ 1.7'.

When the warning level of'Boundary' is confirmed by the warning level checker 118, the warning message display processing unit 119 may display a warning message on the screen to inform the intrusion status according to the warning level of'Border'. .

That is, the intrusion detection apparatus 110 according to the present invention generates warning messages according to different warning levels according to the vector similarity between the n-dimensional reference vector for indicating that the n-dimensional characteristic vector and the object exists. By displaying on the screen, it is possible to support the user to recognize how close the current object is.

In addition, according to an embodiment of the present invention, the intrusion detection apparatus 110 may further include a location information storage unit 120, a sensor identification unit 121, and an image display unit 122.

The location information storage unit 120 may store location information of the n lidar sensors in the security area and location information of a plurality of cameras previously installed in the security area.

The sensor identification unit 121 compares the n-dimensional characteristic vector and the n-dimensional reference vector with components present at corresponding positions to each other, and the size of the components constituting the n-dimensional characteristic vector is the A first component that is equal to or smaller than the size of a component present at a corresponding position in the n-dimensional reference vector is extracted, and a first lidar sensor corresponding to the first component is identified.

When the first lidar sensor is identified, the image display unit 122 is located within a preset distance from the position of the first lidar sensor by referring to the location information storage unit among the plurality of cameras previously installed in the security area. It connects to the first camera identified as being, receives real-time image information from the first camera, and displays a real-time image according to the image information on the screen.

For example, as described above, if it is assumed that'n=3', the three-dimensional characteristic vector is (8, 2, 12), and the three-dimensional reference vector is (d1, d2, d3), then the sensor is checked. The unit 121 may compare '8' and'd1', '2' and'd2', and '12' and'd3' in order to compare each of the components present at corresponding positions. At this time, the sensor identification unit 121 is '8', '2', '12', which is the same as or smaller than the size of'd1','d2', and'd3', which are components present in positions corresponding to each other. Component 1'can be extracted, and'rider sensor 1'corresponding to the'component 1'can be identified.

In this way, when the'rider sensor 1'is confirmed by the sensor confirmation unit 121, the image display unit 122 refers to the location information storage unit 120 among the plurality of cameras previously installed in the security area. Connects to'Camera 1', which is found to be located within a preset distance from the location of'Rider Sensor 1', receives real-time image information from the'Camera 1', and displays a real-time image according to the image information on the screen. can do.

That is, the intrusion detection apparatus 110 according to the present invention compares the n-dimensional characteristic vector and the n-dimensional reference vector between components, and when it is determined that the object is in a dangerous state, the camera closest to the object is By displaying a real-time image on the screen, it is possible to support a user's quick response to the intrusion of an object.

2 is a flow chart illustrating a method of operating an intrusion detection apparatus for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention.

In step S210, a laser beam is emitted in a predetermined direction through n lidar sensors installed at different points in the security area, thereby measuring a separation distance between the n lidar sensors and an object to be detected.

In step S220, a first matrix of 1 x n is generated by allocating the separation distance measured by each of the n lidar sensors as a component constituting one column.

In step S230, a 1xn weighting matrix is generated by calculating a Hadamard product between the 1xn first matrix and a predetermined 1xn weighting matrix, and values constituting the 1xn weighting matrix are each Generates an n-dimensional feature vector containing as a component.

In step S240, a vector similarity degree between the n-dimensional feature vector and a preset n-dimensional reference vector for indicating that the object exists is calculated.

In step S250, the vector similarity is compared with a predetermined threshold, and if it is determined that the vector similarity exceeds the threshold, it is determined that an object exists, and the vector similarity is determined to be less than or equal to the threshold. If so, it is determined that the object does not exist.

In step S260, if it is determined that the object exists in step S250, a warning message for notifying that the intrusion state is displayed on the screen.

In this case, according to an embodiment of the present invention, n weight components included in the weight matrix may be composed of values greater than 0 and less than 1, and a total sum of the n weight components may be 1.

Further, according to an embodiment of the present invention, the calculation of the vector similarity between the n-dimensional feature vector and the n-dimensional reference vector may be performed according to Equation 1 above.

In addition, according to an embodiment of the present invention, in step S260, a plurality of predetermined different warning levels and an upper limit value and a lower limit value for a predetermined different vector similarity corresponding to each of the plurality of warning levels are Storing and maintaining a warning level table in which a specified range value is recorded, if it is determined that an object exists in step S250, the vector similarity range value to which the vector similarity belongs is selected from the warning level table. Checking the corresponding recorded first warning level, and when the first warning level is confirmed, displaying a warning message for informing that the intrusion state according to the first warning level is displayed on the screen.

In addition, according to an embodiment of the present invention, the method of operating the intrusion detection device includes location information of the n lidar sensors in the security area and location information of a plurality of cameras preinstalled in the security area. Maintaining a location information storage unit in which is stored, components constituting the n-dimensional feature vector by comparing the n-dimensional feature vector and the n-dimensional reference vector with components existing at corresponding positions Extracting a first component whose size is equal to or smaller than the size of a component present at a corresponding position in the n-dimensional reference vector, and confirming a first lidar sensor corresponding to the first component, and the first component 1 When the lidar sensor is confirmed, access to the first camera identified as being located within a preset distance from the location of the first lidar sensor by referring to the location information storage unit among the plurality of cameras previously installed in the security area. Accordingly, the method may further include receiving real-time image information from the first camera and displaying a real-time image according to the image information on a screen.

In the above, an operation method of an intrusion detection apparatus for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention has been described with reference to FIG. 2. Here, the method of operating an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security zone according to an embodiment of the present invention detects intrusion through a plurality of lidar sensors installed in the security zone described with reference to FIG. 1. Since it may correspond to the configuration of the operation of the intrusion detection device 110, a more detailed description thereof will be omitted.

An operation method of an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention may be implemented as a computer program stored in a storage medium for execution through a combination with a computer.

In addition, the operation method of the intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security area according to an embodiment of the present invention is implemented in the form of a computer program command to be executed through a combination with a computer, and is computer readable Can be recorded on media. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded in the medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but this is provided only to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , If a person of ordinary skill in the field to which the present invention belongs, various modifications and variations are possible from these descriptions.

Therefore, the spirit of the present invention is limited to the described embodiments and should not be defined, and all things that are equivalent or equivalent to the claims as well as the claims to be described later fall within the scope of the spirit of the present invention. .

110: Intrusion detection device that detects intrusion through a plurality of lidar sensors installed in the security area
111: separation distance measurement unit 112: matrix generation unit
113: feature vector generation unit 114: vector similarity calculation unit
115: judgment unit 116: warning message display unit
117: warning level table holding unit 118: warning level checking unit
119: warning message display processing unit 120: location information storage unit
121: sensor confirmation unit 122: image display unit

Claims (12)

By emitting a laser beam in a preset direction through n (n is a natural number of 2 or more) LiDAR sensors installed at different points in the security area, the separation distance between the n lidar sensors and the object to be detected intrusion is determined. A separation distance measuring unit to measure;
A matrix generator for generating a 1 xn first matrix by allocating a separation distance measured by each of the n lidar sensors as a component constituting one column;
A 1xn weighting matrix is generated by calculating a Hadamard product between the 1xn first matrix and a predetermined 1xn weighting matrix, and values constituting the 1xn weighting matrix are each A feature vector generation unit that generates an n-dimensional feature vector included as a component;
A vector similarity calculation unit that calculates a vector similarity between the n-dimensional feature vector and a preset n-dimensional reference vector for indicating that an object exists;
Comparing the vector similarity with a predetermined threshold value, if it is determined that the vector similarity exceeds the threshold value, it is determined that an object exists, and if it is determined that the vector similarity is less than the threshold value, the object exists. A judgment unit that determines that it is not doing; And
When the determination unit determines that the object exists, a warning message display unit that displays a warning message to inform the intrusion status on the screen.
Intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in the security area including a. The method of claim 1,
An intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in a security area in which n weight components included in the weight matrix are composed of values greater than 0 and less than 1, and the total sum of the n weight components is 1. The method of claim 1,
An intrusion detection device for detecting an intrusion through a plurality of lidar sensors installed in a security area in which the calculation of the vector similarity between the n-dimensional feature vector and the n-dimensional reference vector is performed according to Equation 1 below.
[Equation 1]

Here, M is the vector similarity between the two vectors, C is the cosine similarity between the two vectors, and D is the Euclidean distance between the two vectors. The method of claim 1,
The warning message display unit
A warning that stores and maintains a warning level table in which the range values in which the upper and lower limit values for different predetermined vector similarities corresponding to a plurality of different warning levels and the plurality of warning levels are specified are recorded. A grade table holding unit;
A warning level checking unit configured to check a first warning level recorded in correspondence with a range value of the vector similarity to which the vector similarity belongs from the warning level table when it is determined that the object exists by the determination unit; And
When the first warning level is confirmed, a warning message display processing unit that displays a warning message for notifying that the intrusion status according to the first warning level is displayed on the screen
Intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in the security area including a. The method of claim 1,
A location information storage unit storing location information of the n lidar sensors in the security area and location information of a plurality of cameras installed in the security area;
The n-dimensional feature vector and the n-dimensional reference vector are compared with each other with components present at corresponding positions, and the size of the components constituting the n-dimensional feature vector is in the n-dimensional reference vector. A sensor identification unit that extracts a first component that is equal to or smaller than the size of the component present in a corresponding position and checks a first lidar sensor corresponding to the first component; And
When the first lidar sensor is identified, a first camera identified as being located within a preset distance from the position of the first lidar sensor by referring to the location information storage unit among the plurality of cameras previously installed in the security area An image display unit that accesses to, receives real-time image information from the first camera, and displays a real-time image according to the image information on the screen.
Intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in the security zone further comprising a. By emitting a laser beam in a preset direction through n (n is a natural number of 2 or more) LiDAR sensors installed at different points in the security area, the separation distance between the n lidar sensors and the object to be detected intrusion is determined. Measuring;
Generating a first matrix of 1 xn by allocating a separation distance measured by each of the n lidar sensors as a component constituting one column;
A 1xn weighting matrix is generated by calculating a Hadamard product between the 1xn first matrix and a predetermined 1xn weighting matrix, and values constituting the 1xn weighting matrix are each Generating an n-dimensional feature vector containing as a component;
Calculating a vector similarity between the n-dimensional feature vector and a preset n-dimensional reference vector for indicating that an object exists;
Comparing the vector similarity with a predetermined threshold value, if it is determined that the vector similarity exceeds the threshold value, it is determined that an object exists, and if it is determined that the vector similarity is less than the threshold value, the object exists. Determining that it is not doing; And
If it is determined that the object exists by the determining step, displaying a warning message for notifying that the intrusion state is displayed on the screen.
A method of operating an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in the security area including a. The method of claim 6,
The n weight components included in the weight matrix are composed of values greater than 0 and less than 1, and the total sum of the n weight components is one of an intrusion detection device that detects intrusion through a plurality of lidar sensors installed in the security area. How it works. The method of claim 6,
A method of operating an intrusion detection apparatus for detecting an intrusion through a plurality of lidar sensors installed in a security area in which the calculation of the vector similarity between the n-dimensional feature vector and the n-dimensional reference vector is performed according to Equation 1 below.
[Equation 1]

Here, M is the vector similarity between the two vectors, C is the cosine similarity between the two vectors, and D is the Euclidean distance between the two vectors. The method of claim 6,
Displaying the warning message on the screen
Storing and maintaining a warning level table in which a range of values in which upper and lower limit values for different predetermined vector similarities corresponding to a plurality of different warning levels and the plurality of warning levels are specified are recorded. ;
If it is determined that the object exists by the determining step, checking a first warning level recorded in correspondence with a range value of the vector similarity to which the vector similarity belongs from the warning level table; And
When the first warning level is confirmed, displaying a warning message for notifying that the intrusion status according to the first warning level is confirmed on the screen
A method of operating an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in the security area including a. The method of claim 6,
Maintaining a location information storage unit in which location information of the n lidar sensors in the security area and location information of a plurality of cameras installed in the security area are stored;
The n-dimensional feature vector and the n-dimensional reference vector are compared with each other with components present at corresponding positions, and the size of the components constituting the n-dimensional feature vector is in the n-dimensional reference vector. Extracting a first component that is equal to or smaller than the size of the component present in the corresponding position, and confirming a first lidar sensor corresponding to the first component; And
When the first lidar sensor is identified, a first camera identified as being located within a preset distance from the position of the first lidar sensor by referring to the location information storage unit among the plurality of cameras previously installed in the security area Accessing to, receiving real-time image information from the first camera, and displaying a real-time image according to the image information on a screen.
A method of operating an intrusion detection device for detecting intrusion through a plurality of lidar sensors installed in the security area further comprising a. A computer-readable recording medium recording a computer program for executing the method of any one of claims 6 to 10 through combination with a computer. A computer program stored in a storage medium for executing the method of claim 6 through a combination with a computer.

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