JP4891145B2 - Robot, radio wave detection device, radio wave detection method, and radio wave detection processing program - Google Patents

Description

  The present invention relates to a robot, a radio wave detection device, a radio wave detection method, and a radio wave detection processing program, in particular, a robot capable of detecting radio waves emitted by a wireless eavesdropper or a voyeur attached to a device body capable of moving a position, The present invention relates to a radio wave detection device, a radio wave detection method, and a radio wave detection processing program.

  In recent years, mobile robots (hereinafter referred to as “robots”) have been commercialized and have begun to spread to ordinary households. Such a robot can act autonomously according to a command from a user or a surrounding situation. In addition, a camera as a visual function for recognizing the robot's work space and moving space, as well as people and objects in contact with the robot, and a microphone as a hearing function for listening to surrounding voices and sounds to realize communication with humans. Is installed.

  By the way, recently, robots that can be remotely controlled by radio or the like have come to be seen. With such robots, it has become possible to voyeurize or eavesdrop at home or in the office from a remote location by using a camera or microphone mounted on the robot. Therefore, unauthorized use of the robot is sufficient to prevent eavesdropping, voyeurism, etc., infringement of the privacy of the robot user, etc. It was necessary to consider.

  In consideration of this situation, while the robot is sending image information to the remote control device, it warns the outside, such as sound and light, and sends image information to surrounding people. A method for easily recognizing and preventing unauthorized use has been proposed (see, for example, Patent Document 1).

  In this method, while image information from a camera mounted on a robot is transmitted to a remote control device (for example, a personal computer having a wireless communication function), a warning is issued to the outside by voice or blinking of an LED. It was like that.

  On the other hand, apart from cameras and microphones mounted on robots, wireless tapping devices and voyeur cameras are attached to the above-mentioned robots so that they can be wiretapped or voyeurized regardless of whether the robot is remotely operated or not. It is also necessary to fully consider the possibility of In particular, the current wiretap and voyeurs are small and high-performance, and some products do not require a battery. Many have been released.

  Conventionally, various types of radio wave detection devices for detecting such wireless tapping devices and voyeur devices have been proposed. As an example, there has been proposed a radio wave detection device that always detects eavesdropping radio waves and issues an alarm when eavesdropping radio waves are detected.

In this radio wave detection device, electric field strength data detected in advance in the absence of an eavesdropping radio wave at the place where the receiver is installed is acquired and stored in the environmental radio wave database. Then, by comparing the stored field strength data with the field strength data acquired by the receiver, the difference in the field strength is detected, thereby detecting the presence or absence of eavesdropping radio waves (for example, Patent Documents). 2).
JP 2002-331482 A JP 2003-266992 A

  However, since the conventional radio wave detection device detects the difference in the electric field strength data at the place where the receiver is installed, when a robot capable of autonomous movement that emits radio waves by itself moves around the home, Regardless of the presence or absence of an attached eavesdropper or voyeur, the robot body itself is erroneously detected as an eavesdropper or voyeur, and there is a problem that the presence or absence of an eavesdropper or voyeur that should be detected cannot be detected.

  The present invention has been made in view of such problems, and is a robot capable of detecting the presence or absence of radio waves emitted by a wireless tapping device or a voyeur attached to a device body that can move its position, An object is to provide a detection device, a radio wave detection method, and a radio wave detection processing program.

  A robot according to the present invention includes a moving unit for moving to a plurality of positions, a radio wave receiving unit for receiving radio waves at a plurality of different positions and detecting a plurality of radio signals, and the detected plurality of radio signals By comparing the radio signal detection unit for detecting the presence / absence of radio signals having the same characteristics, the illegal radio wave detection unit detecting that there is an illegal radio wave when the radio signal has the same characteristic, and the illegal radio wave is detected. A notification unit for performing notification.

  According to this configuration, since radio signals having the same characteristics can be detected by comparing radio signals detected at a plurality of different positions, an eavesdropper or a voyeur that moves as the robot body moves is emitted. An unauthorized radio wave can be detected and a notification can be given when it is detected.

  The robot further includes a trigger signal generation unit that generates a trigger signal at predetermined time intervals, and a position detection unit that detects a plurality of position information at different timings according to the trigger signal, and the radio wave reception unit includes: Preferably, the plurality of radio signals are detected based on the plurality of position information.

  In this case, since a plurality of pieces of position information can be obtained at predetermined time intervals, even a robot that has been moved by a person or the like and cannot travel autonomously can detect the position, and can detect a plurality of radio signals detected at different positions. You can compare.

  The robot further includes a self radio signal storage unit that stores a self radio signal, and the radio signal verification unit removes the self radio signal stored in the self radio signal storage unit from the plurality of radio signals. It is preferable to compare things.

  In this case, since a plurality of radio signals from which the self radio signal has been removed can be compared, it is easy to detect unauthorized radio waves from a wireless tapping device or a voyeur attached to the robot body.

  The robot further includes a stop control unit that controls whether to stop a predetermined function, and the stop control unit is configured to perform the predetermined function while the radio wave reception unit detects the plurality of radio wave signals. Is preferably stopped.

  In this case, while detecting a plurality of radio signals, the predetermined function of the robot is stopped, so that the radio waves generated by the robot itself can be reduced, and unauthorized radio waves such as eavesdropping devices and voyeur cameras can be reduced. It becomes easy to detect.

  Preferably, the robot further includes an inspection sound generation unit that generates sound, and the inspection sound generation unit generates sound while the radio wave reception unit detects the plurality of radio wave signals.

  In this case, sound is generated while multiple radio signals are detected, so in addition to eavesdroppers that always emit eavesdropping radio waves, eavesdroppers that emit radio waves in response to sound can also be activated. Can be detected.

  The inspection sound generation unit generates a singular sound, the radio signal verification unit demodulates the detected radio signal to detect the presence or absence of a radio signal having the same characteristics as the singular sound, and the unauthorized radio wave detection unit Preferably, when there is a radio signal having the same characteristics as the singular sound, it is detected that there is an illegal radio wave.

  In this case, since the singular sound generated by the robot itself is detected to detect unauthorized radio waves, it is possible to accurately detect the eavesdropper or the voyeur.

  The robot includes a detection result storage unit that stores a detection result of a radio signal having the same characteristic detected by the radio signal verification unit, a setting unit that performs settings for displaying the detection result, and a setting based on the setting. It is preferable to further include a display unit that displays the detection result stored in the detection result storage unit.

  In this case, since the detection result of the radio signal having the same characteristic can be displayed based on the setting by the user, it is possible to easily grasp the presence or absence of unauthorized radio waves from a wireless tapping device or a voyeur camera, and the detection result storage unit By analyzing the detection result stored in, it can be used as history information that the robot has been illegally used.

  The robot has a map storage unit that stores a radio wave intensity map representing the radio wave intensity at the position in association with each position in the robot's usage space, and a measurement with a low environmental radio wave intensity with reference to the radio wave intensity map. It is preferable that the apparatus further includes a measurement position selection unit that selects a position, and the radio wave reception unit receives a radio wave at the measurement position and detects a plurality of radio wave signals.

  In this case, it is possible to autonomously search for a place where the total energy of the environmental radio wave is minimum, and to select the two points with the weakest radio wave intensity to detect the presence or absence of unauthorized radio waves, thus minimizing environmental noise. Thus, it is possible to improve the S / N ratio of detection of eavesdropping radio waves and voyeur radio waves, and to detect illegal radio waves with high accuracy.

  The robot further includes a load detector that detects that a load has been placed on the robot and generates a trigger signal, and a position detector that detects current position information in response to the trigger signal, It is preferable that the radio wave reception unit detects the plurality of radio wave signals based on the plurality of position information detected by the position detection unit.

  In this case, it is possible to detect the presence or absence of radio signals with the same characteristics when the package is placed, so even if there is an eavesdropper or voyeur attached to the package rather than the robot itself, The vessel can be detected accurately.

  Another robot according to the present invention includes a moving unit for moving to a plurality of positions, a baggage detection unit that detects that a baggage is placed on the robot and generates a trigger signal, and a response to the trigger signal. A radio wave receiving unit that receives radio waves and detects a plurality of radio wave signals, and a radio wave signal verification unit that detects the presence or absence of radio signals with the same characteristics by comparing the detected radio wave signals. An illegal radio wave detection unit that detects that there is an illegal radio wave when there is a characteristic radio signal, and a notification unit that performs notification when an illegal radio wave is detected.

  According to this configuration, radio signals having the same characteristics can be detected by comparing radio signals detected when the package is placed, so that an eavesdropper or a voyeur is attached to the package, not the robot itself. Even when there is an eavesdropper, it is possible to accurately detect an eavesdropper or a voyeur camera and to notify when it is detected.

  The radio wave detection device according to the present invention receives radio waves at a plurality of positions different from each other, and compares the detected radio wave signals with a radio wave receiving unit that detects a plurality of radio wave signals, thereby obtaining radio waves having the same characteristics. A radio signal detector that detects the presence or absence of a signal; and an illegal radio wave detector that detects that there is an illegal radio wave when the radio signal has the same characteristic.

  According to this configuration, since radio signals having the same characteristics can be detected by comparing radio signals detected at a plurality of different positions from each other, an eavesdropper or a voyeur that moves as the apparatus body moves is emitted. Can detect unauthorized radio waves.

  The radio wave detection device further includes a trigger signal generation unit that generates a trigger signal at a predetermined time interval, and a position detection unit that detects a plurality of position information at different timings according to the trigger signal, It is preferable that the unit detects the plurality of radio wave signals based on the plurality of position information.

  In this case, since a plurality of pieces of position information can be obtained at predetermined time intervals, even when the radio wave detection device is attached to a device moved by a person or the like, the radio wave detection devices can detect the positions and A plurality of radio signals detected at different positions can be compared.

  In the radio wave detection method according to the present invention, radio wave reception steps for receiving radio waves at a plurality of different positions and detecting a plurality of radio wave signals are compared with radio waves having the same characteristics by comparing the detected radio wave signals. A radio wave signal collating step for detecting the presence or absence of a signal; and an illegal radio wave detecting step for detecting that there is an illegal radio wave when the radio signal having the same characteristic is present.

  According to this method, since radio signals having the same characteristics can be detected by comparing radio signals detected at a plurality of different positions from each other, an eavesdropper, a voyeur, or the like that moves as the apparatus body moves is emitted. Can detect unauthorized radio waves.

  A radio wave detection processing program according to the present invention compares a plurality of radio signals detected at a plurality of different positions, thereby detecting a presence / absence of a radio signal having the same characteristic, and a radio wave having the same characteristic. When the signal is present, the computer is caused to function as an unauthorized radio wave detection unit that detects that there is an illegal radio wave.

  According to this radio wave detection processing program, radio wave signals having the same characteristics can be detected by comparing radio wave signals detected at a plurality of different positions. Therefore, an eavesdropper or a voyeur that moves as the apparatus body moves Can detect unauthorized radio waves emitted by

  According to the present invention, a robot, a radio wave detection device, a radio wave detection method, and a radio wave detection processing program capable of detecting the presence or absence of radio waves emitted by a wireless tapping device or a voyeur attached to a device body capable of moving a position. Can be provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
The radio wave detection apparatus according to Embodiment 1 of the present invention detects radio wave signals based on radio waves received at a plurality of different positions (hereinafter referred to as “normal radio waves”), and detects the detected radio wave signals. By comparing, the presence / absence of a radio signal having the same characteristics is detected, and the presence / absence of a radio wave (hereinafter referred to as “illegal radio wave”) emitted from a wireless tapping device or a voyeur camera is output as a detection result.

  Here, the unauthorized radio wave is a radio wave emitted by a wireless eavesdropper or a voyeur that is attached to a movable apparatus body, for example, a robot, and moves with the apparatus body. Since it is detected as a radio wave signal having the characteristic, it is determined that the unauthorized radio wave is “present” when the radio signal having the same characteristic is detected. The normal radio wave is a radio wave used for daily activities and social activities, such as radio networks, mobile phones, television broadcasts, radio broadcasts, police radios, taxi radios, and electromagnetic waves from microwave ovens.

  Further, the radio wave detection device is configured to notify a certain message in order to notify the outside that an illegal radio wave has been detected.

  In this way, by providing the radio wave detection device, the robot can discover and notify the attachment of illegal devices such as eavesdropping and voyeurism to the robot body, and can protect the privacy of the robot user.

  Note that the mounting of the radio wave detection device is not limited to the robot, but may be provided in a device that can be moved by remote operation, for example, a toy that operates by wireless operation. Moreover, you may provide in the apparatus which can move a position by being carried by the person. For example, a game machine, a mobile phone, a portable information terminal such as a PDA, a notebook personal computer, and the like. In either apparatus, the same effect can be achieved. Hereinafter, in the embodiment of the present invention, a robot provided with a radio wave detection device will be described as an embodiment.

  Hereinafter, the configuration of the robot will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the robot according to Embodiment 1 of the present invention.

  As shown in FIG. 1, the robot 101 according to the first embodiment of the present invention includes a position setting unit 21 for setting position information of a movement destination, a moving unit 25 for moving to a set position, and a setting An actuator 24 for driving the moving unit 25 to the moved position, and a radio wave detection device 10 that detects the presence or absence of unauthorized radio waves based on the received radio waves.

  Furthermore, the robot 101 includes a notification unit 22 that issues a warning to the outside according to the detection result of the radio wave detection device 10. Further, the robot 101 sets a detection result storage unit 23 for storing the detection result of the radio wave detection device 10, a display unit 26 for displaying the stored detection result, display information displayed on the display unit 26, and the like. And a setting unit 27 for doing so.

  The radio wave detection device 10 receives a radio wave, detects a radio wave signal, compares the radio wave reception unit 12 that stores the radio wave signal, the radio wave signal storage unit 14 that stores the radio wave signal, and the stored radio wave signal, A radio signal verification unit 15 that detects the presence / absence of a radio signal with the same characteristic and an illegal radio wave detection unit 17 that determines the presence / absence of an illegal radio wave according to the presence / absence of a radio signal with the same characteristic are provided.

  The radio wave receiver 12 includes a detector (not shown) for detecting the radio wave received by the antenna 13, an amplifier (not shown) for amplifying the detected analog radio signal, and the amplified analog radio signal as a digital radio wave. And an A / D converter (not shown) for converting the signal. Thereby, the radio wave receiving unit 12 detects a radio wave signal converted from the received radio wave to a digital signal. The radio wave receiving unit 12 detects radio wave signals at different positions based on position information acquired from an actuator 24 described later.

  The radio signal storage unit 14 stores a radio signal output from the radio wave reception unit 12. The radio wave signal storage unit 14 can be appropriately selected and used from a magnetic disk device such as a hard disk drive (hereinafter referred to as “HDD”) or a known storage device such as a semiconductor memory.

  The radio signal verification unit 15 includes a frequency analysis unit (not shown) such as a spectrum analyzer and a comparison unit (not shown) that compares spectrum intensities. Thereby, the radio signal collation unit 15 acquires a plurality of radio signals detected by the radio wave reception unit 12, for example, the radio signal S1 and the radio signal S2, and analyzes the frequency component of each signal by the frequency analysis unit, By comparing each of the analyzed spectrum intensities by the comparison unit, the presence or absence of a radio signal having the same characteristic is detected. Here, after receiving the radio signal from the radio wave receiver 12, the radio wave signal collator 15 performs a collation operation.

  The illegal radio wave detection unit 17 determines that the radio wave signal having the same characteristic is “present” when the radio signal matching unit 15 detects that the radio signal having the same characteristic is “present”, and the radio signal having the same characteristic is detected as “none”. In some cases, the detection result determined to be “absence of unauthorized radio wave” is output.

  The position setting unit 21 outputs the position information of the movement destination set by the robot 101 to the actuator 24. The position information of the movement destination is stored in advance in a storage unit (not shown) of the robot 101, and is given by the robot 101 itself when performing radio wave detection operation. Of course, the method is not limited to this method. For example, a person from the outside of the robot 101 may transmit and set the position information of the destination by wireless communication.

  The actuator 24 includes a set of a known motor (not shown) such as a DC brushless motor and a known encoder (not shown) such as a potentiometer, and a destination of movement output from the position setting unit 21. The wheels of the moving unit 25 are rotated by a motor according to the position information. The motor and the encoder may be configured integrally or may be configured separately.

  The actuator 24 computes the output from the encoder and generates position information. For example, when the actuator 24 calculates position information by odometry and the moving unit 25 is a wheel type, the position of the robot 101 is integrated by accumulating pulses generated from encoders attached to the wheels as the wheels rotate. Is calculated. Thereby, the robot 101 can recognize its own position and posture.

  The actuator 24 outputs a coincidence signal to the radio wave receiving unit 12 when the position information of the movement destination set in the position setting unit 21 matches the detected position information. If the radio wave receiving unit 12 detects the radio wave signal in accordance with the timing of the coincidence signal, the radio wave signal can be detected for each coordinate position based on the position information of the destination set by the position setting unit 21.

  The coincidence determination between the position information of the movement destination set in the position setting unit 21 and the detected position information is determined as “match” if the difference in distance between the two is smaller than the difference in distance set in advance. It is.

  The actuator 24 may store predetermined position information in a storage unit (not shown) and output a coincidence signal when the predetermined position information matches the detected position information. The predetermined position information is, for example, position information of a living room, a kitchen, a Western-style room, a Japanese-style room, a washroom, a bathroom, etc. when used in the home. When used in a building such as a company, it is a conference room, a document room, a living room, a copying room, and the like. Further, when the robot 101 circulates a predetermined route in a building such as a condominium or an airport or transports luggage, it is a predetermined position on a circular route such as a corridor, an entrance, a common place, a departure lobby, an arrival lobby, and the like.

  For the moving unit 25, known wheels, crawlers, legs (two legs, multiple legs), etc. for moving can be appropriately selected according to the application. For example, when the moving unit 25 moves up and down stairs, it is preferable to use legs such as biped walking rather than wheels or crawlers. In recent years, the level difference has been reduced due to barrier-free in homes, offices, halls, public facilities, etc., and if the moving range is limited to the same floor, sufficient moving performance can be obtained even with wheels. Also, the wheel type is easier to control than the leg type such as biped walking. Hereinafter, in the embodiment of the present invention, the moving unit 25 will be described as using wheels.

  The notification unit 22 notifies the outside based on the detection result output from the unauthorized radio wave detection unit 17. For example, if the detection unit 22 detects that there is an unauthorized radio wave “present” in the detection result, a message such as “An illegal radio wave has been detected. There is a possibility that an eavesdropping or voyeur device has been attached to the main body”. Is spoken. The notification unit 22 does nothing when the unauthorized radio wave “none” is detected in the detection result. In addition, you may alert | report with a display apparatus instead of an audio | voice. Thereby, the robot user can easily know that the radio wave detection device 10 has detected an illegal radio wave emitted by an eavesdropper or a voyeur camera. Further, the message may be notified to the user by using message transmission means such as mail or telephone instead of voice. As a result, a remote robot user can easily know that the radio wave detection device 10 has detected an illegal radio wave emitted by an eavesdropper or a voyeur camera.

  The detection result storage unit 23 stores the detection result output from the unauthorized radio wave detection unit 17. The detection result storage unit 23 can be appropriately selected from a known storage device such as a magnetic disk device such as an HDD or a semiconductor memory. Note that the radio signal storage unit 14 and the detection result storage unit 23 only need to be able to store necessary data, respectively, and may be realized by separate storage devices, or a storage area in one storage device. You may implement | achieve by dividing | segmenting.

  The display unit 26 displays the detection result stored in the detection result storage unit 23. The display unit 26 includes a display device such as a liquid crystal display panel, and displays warning information or the like corresponding to the detection result. The setting unit 27 includes a numeric keypad and a keyboard, and inputs information to be displayed on the display unit 26. Although not shown, the robot 101 further includes a battery as driving energy, an external sensor for detecting obstacles, and the like.

  Next, the operation of the robot 101 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 2 is a flowchart for explaining the operation of the robot 101.

  In FIG. 2, the robot 101 sets a first position P <b> 1 that is a movement destination in the position setting unit 21 in order to detect unauthorized radio waves (S <b> 101). As a result, the position setting unit 21 outputs position information about the set first position P1 to the actuator 24. The actuator 24 moves the main body of the robot 101 by rotating the motor of the moving unit 25 based on the position information about the first position P1.

  Next, the robot 101 moves to the first position P1 and stops (S102). The actuator 24 outputs a coincidence signal to the radio wave receiver 12 when the detected position information matches the position information about the first position P1. The radio wave receiving unit 12 can detect the radio wave signal at the coordinate position of each destination by detecting the radio wave signal in accordance with the timing of the coincidence signal.

  Next, the radio wave receiver 12 of the robot 101 receives the normal radio wave W1 at the stopped first position P1, and detects the radio wave signal S1 (S103). Here, the normal radio wave W1 is a normal radio wave received at the first position P1. The radio signal S1 is a radio signal detected by the radio wave receiving unit 12 by receiving the normal radio wave W1. Next, the radio wave receiving unit 12 of the robot 101 stores the radio signal S1 at the first position P1 in the radio signal storage unit 14 (S104).

  Next, when the storage of the radio signal S1 is completed, the robot 101 sets the second position P2 that is the movement destination in the position setting unit 21 (S105). Accordingly, the position setting unit 21 outputs position information about the set second position P2 to the actuator 24. The actuator 24 rotates the motor of the moving unit 25 based on the position information about the second position P2, and moves the main body of the robot 101.

  Next, the robot 101 moves to the second position P2 and stops (S106). The actuator 24 outputs a coincidence signal to the radio wave receiver 12 when the detected position information matches the position information about the second position P2. The radio wave receiver 12 detects a radio wave signal in accordance with the timing of the coincidence signal.

  Next, the radio wave receiver 12 of the robot 101 receives the normal radio wave W2 at the stopped second position P2, and detects the radio wave signal S2 (S107). Here, the normal radio wave W2 is a normal radio wave received at the second position P2. The radio signal S2 is a radio signal detected by the radio wave receiving unit 12 by receiving the normal radio wave W2.

  Next, the radio signal verification unit 15 of the robot 101 compares the radio signal S1 at the first position P1 stored in the radio signal storage unit 14 with the detected radio signal S2 at the second position P2, The presence or absence of radio signals having the same characteristics is detected (S108).

  Next, the unauthorized radio wave detection unit 17 of the robot 101 determines that the unauthorized radio wave is “present” when the radio wave signal collating unit 15 detects that the radio signal with the same characteristic is “present”. When it is detected that “absent” is detected, the detection result that the unauthorized radio wave is determined to be “absent” is output (S109).

  Next, the notification unit 22 of the robot 101 warns the outside according to the detection result (S110). For example, if the detection result indicates that there is an unauthorized radio wave “Yes”, the notification unit 22 gives a voice message such as “An illegal radio wave has been detected. There is a possibility that an eavesdropping or voyeur device has been attached to the main body”. Depart to the outside. On the other hand, the notification unit 22 does nothing when the unauthorized radio wave is “none” in the detection result. Next, the radio wave receiver 12 stores the last detected radio wave signal in the radio wave signal storage unit 14 (S111).

  If one or more radio signals are already stored in the radio signal storage unit 14, if one new radio signal is detected, a plurality of radio signals can be compared. Therefore, steps S101 to S104 are performed. It is not necessary to perform the processes up to. By newly detecting one radio signal, a plurality of different radio signals can be compared. In addition, radio signals stored in the radio signal storage unit 14 are periodically or collectively deleted from the oldest one using a timer or a scheduler so that new radio signals can be compared with each other. It may be.

  Further, in the operation of the robot 101, after the detection result is notified, the last detected radio signal is stored in the radio signal storage unit 14, but after the detection result is notified, the radio signal storage unit 14 stores the radio signal. All stored radio wave signals may be erased. Thereby, the latest radio wave signals can be compared each time, and the amount of data stored in the radio wave signal storage unit 14 can be suppressed.

  Next, detection of unauthorized radio waves will be described in detail with reference to FIG. FIG. 3A is an explanatory diagram for explaining a radio wave state in which the illegal radio wave is “none”, and FIG. 3B is an explanatory diagram for explaining a radio wave state in which the illegal radio wave is “present”.

  First, using FIG. 3 (a), an operation for detecting an unauthorized radio wave when there is no unauthorized radio wave will be described. In FIG. 3A, the robot 101 moves to the first position P1 and stops, and further moves to the second position P2 and stops.

  When the robot 101 reaches the first position P1, the robot 101 receives the normal radio wave W1 with the antenna 13 and detects the radio signal S1. Further, the robot 101 stores the detected radio signal S1 in the radio signal storage unit 14.

  Next, the robot 101 similarly moves to a second position P2 different from the first position P1, receives the normal radio wave W2 at the second position P2, and detects the radio signal S2. Here, the robot 101 compares the stored radio signal S1 with the detected radio signal S2 to detect the presence or absence of radio signals having the same characteristics. In FIG. 3A, since there is no illegal radio wave, different radio signal S1 and radio signal S2 are detected at the first position P1 and the second position P2.

  Next, with reference to FIG. 3B, an operation for detecting unauthorized radio waves when an unauthorized device 50 that performs eavesdropping, voyeurism, or the like is mounted on the robot 101 and emits illegal radio waves will be described.

  In FIG. 3B, as in FIG. 3A, the robot 101 moves to the first position P1 and stops, and further moves to the second position P2 and stops.

  When the robot 101 stops at the first position P1, the radio wave receiving unit 12 receives the normal radio wave W1 and the illegal radio wave WA emitted from the unauthorized device 50, and detects the radio signal S1a. The radio signal S1a is as follows.

S1a = S1 + SA
Here, in the radio wave receiving unit 12, S1 is a radio wave signal detected by receiving the normal radio wave W1, and SA is a radio wave signal detected by receiving the illegal radio wave WA.

  Next, the robot 101 stores the radio signal S1a in the radio signal storage unit 14. Next, when the robot 101 moves to a second position P2 different from the first position P1 and stops, the radio wave receiving unit 12 receives the normal radio wave W2 and the illegal radio wave WA output from the unauthorized device 50. The radio signal S2a is detected. The radio signal S2a is as follows.

S2a = S2 + SA
Here, in the radio wave receiver 12, S2 is a radio wave signal detected by receiving the normal radio wave W2, and SA is a radio wave signal detected by receiving the illegal radio wave WA.

  Next, the robot 101 can detect the radio signal SA having the same characteristic by comparing the stored radio signal S1a with the detected radio signal S2a. As shown in FIG. 3A, since the normal radio wave W1 at the first position P1 is different from the normal radio wave W2 at the second position P2, for example, the detected radio wave signal S1a and radio wave signal S2a are usually different. Is different. However, as shown in FIG. 3B, when the unauthorized device 50 that emits the unauthorized radio wave WA is attached to the main body of the robot 101, it is almost the same at both the first position P1 and the second position P2. A radio wave signal SA having almost the same frequency band as the intensity is detected.

  Next, a method for detecting the presence / absence of a radio signal having the same characteristic in the radio signal verification unit 15 will be described in more detail with reference to FIG. 4 (a) and 4 (b) show the results of frequency analysis of the radio signal at each of the first position P1 and the second position P2 in FIG. 3 (a) by the radio signal verification unit 15. 4 (c) and 4 (d) show that the radio signal at the first position P1 and the second position P2 in FIG. It is the figure which showed the result. In FIGS. 4A to 4D, the horizontal axis represents the frequency component of the radio signal, and the vertical axis represents the signal level.

  First, detection when there is no radio signal having the same characteristics will be described with reference to FIGS. 4 (a) and 4 (b). When the robot 101 compares the stored radio signal S1 with the detected radio signal S2, the robot 101 first digitizes each signal in the frequency analysis unit of the radio signal verification unit 15.

  Specifically, as shown in FIGS. 4A and 4B, the measurement frequency band is divided at equal intervals, and the signal level is larger than a preset threshold th for each divided region. By assigning “1” to “1” and “0” when small, the radio signal is converted into a radio signal matrix. At this time, the radio signal matrix of the first position P1 is (0, 0, 0, 0, 1, 0, 0, 0, 0, 0), and the radio signal matrix of the second position P2 is (0, 0, 0, 0, 0, 0, 0, 1, 0, 0).

  Next, the comparison unit of the radio signal verification unit 15 performs a logical product (AND) process on each corresponding column element of the radio signal matrix at the first position P1 and the second position P2. At this time, if even one matrix element after processing has “1”, a radio signal with the same characteristic is detected as “present”, and if there is no “1”, there is no radio signal with the same characteristic. Is detected. From FIG. 4 (a) and FIG. 4 (b), the logical product (AND) processing result of the radio signal matrix at the first position P1 and the second position P2 is (0, 0, 0, 0, 0, 0). , 0, 0, 0, 0), the radio signal having the same characteristic is detected as “none”.

  Next, detection when there are radio signals having the same characteristics will be described with reference to FIGS. 4C and 4D. 4C and 4D, similarly, when comparing the stored radio wave signal S1a (= S1 + SA) with the detected radio wave signal S2a (= S2 + SA), the robot 101 first detects the radio wave signal. Each signal is digitized by the frequency analysis unit of the verification unit 15. At this time, the radio signal matrix at the first position P1 is (0, 1, 1, 0, 1, 0, 0, 0, 0, 0), and the radio signal matrix at the second position P2 is (0, 1, 1, 0, 0, 0, 0, 1, 0, 0).

  Next, the comparison unit of the radio signal verification unit 15 similarly performs a logical product process on each corresponding column element of the radio signal matrix at the first position P1 and the second position P2. Here, from FIG. 4C and FIG. 4D, the logical product processing result of the radio signal matrixes at the first position P1 and the second position P2 is (0, 1, 1, 0, 0, 0). , 0, 0, 0, 0), the radio signal having the same characteristic is detected as “present”.

  Accordingly, the robot 101 determines that the unauthorized radio wave WA is “present” when the radio wave signal matching unit 15 detects that the radio signal with the same characteristic is “present” by the unauthorized radio wave detection unit 17. On the other hand, the robot 101 determines that the unauthorized radio wave WA is “absent” when the radio signal collator 15 detects that the radio signal having the same characteristic is “absent”.

  As described above, the robot 101 detects the presence / absence of radio signals having the same characteristics at a plurality of movement positions, and determines the presence / absence of the illegal radio wave WA generated by the unauthorized device 50 or the like based on the detection result. Further, in order to increase the detection accuracy of the illegal radio wave WA, radio waves at different positions P3, P4,..., Pn may be received and compared as necessary.

  As described above, according to the first embodiment of the present invention, the robot 101 detects radio signals from radio waves received at a plurality of different positions, and compares the detected radio signals. Detects the presence or absence of radio signals with the same characteristics. As a result, it is possible to detect an improper radio wave that is attached to a movable robot main body and is emitted from a wireless tapping device or a voyeur that moves with the robot main body as a radio signal having the same characteristics.

  Furthermore, when an unauthorized radio wave is detected as “present”, the robot 101 issues a warning to the outside that there is a possibility that the unauthorized device 50 is attached to the main body. Thereby, the robot user can easily know that an unauthorized radio wave emitted from a wireless tapping device or a voyeur camera has been detected. Thus, by discovering and notifying that an illegal device such as an eavesdropper or a voyeur camera has been attached to the robot body, it is possible to prevent leakage of privacy and corporate secrets at an early stage.

  The notification unit 22 may warn by blinking of a light emitting diode or the like, and has the same effect as long as a person around the robot can recognize the abnormality. Further, since the radio wave detection device 10 only needs to be able to receive radio waves at different positions, if the radio wave detection device 10 is mounted not only on the robot 101 but also on a movable device or the like, similarly, an illegal radio wave emitted by an unauthorized device is generated. It can be detected.

  Further, the actuator 24 may correct the position with a plurality of pieces of position information in order to correct a position error caused by slipping with the floor in contact with the wheel or the like. Further, the position information may be detected using a known visual sensor such as a camera or a sensor such as an ultrasonic sensor. Also, a known GLOBAL POSITIONING SYSTEM (hereinafter referred to as “GPS”) may be used.

  In addition, radio signals received at a number of different positions, that is, N points (N is an integer of 3 or more) and detected together with each position are stored in the radio signal storage unit 14, and at least two different N points are detected. If there are radio waves having the same characteristics at the point, it is possible that the unauthorized device 50 may be attached to the robot 101 itself, and an alarm may be issued to the outside. In this case, even when eavesdropping radio waves or voyeur radio waves are intermittently transmitted, unauthorized radio waves can be accurately detected and a warning can be issued. Further, when radio wave transmission is detected at at least one point, a warning state is entered, and the information may be stored in the radio signal storage unit 14 and used for comparison at other points. Furthermore, the intermittent transmission cycle may be measured, and radio waves may be received in accordance with this cycle to detect unauthorized radio waves, and this cycle may be databased and stored in the radio signal storage unit 14 for reference as appropriate. You may make it do.

(Embodiment 2)
In Embodiment 2 of the present invention, by acquiring position information in accordance with the timing of a trigger signal generated at a predetermined time interval, it is possible to detect radio signals at different positions and detect a plurality of detected radio waves An embodiment for detecting unauthorized radio waves by comparing signals will be described.

  The configuration will be described below with reference to the drawings. FIG. 5 is a block diagram showing a configuration of the robot according to the second embodiment of the present invention. Hereinafter, the same reference numerals are given to the same parts as those of the first embodiment of the present invention, and the detailed description thereof is omitted.

  As shown in FIG. 5, the difference between the robot 102 according to the second embodiment of the present invention and the robot 101 according to the first embodiment of the present invention is that the radio wave detection device 30 generates trigger signals at predetermined time intervals. A trigger signal generator 35 and a position information detector 34 that detects position information according to the trigger signal are further provided. Thus, a plurality of radio signal information and a plurality of position information are detected at predetermined time intervals. The predetermined time interval includes a regular time interval and an irregular time interval, and various time intervals can be used as long as radio waves can be received at different positions.

  The radio wave detection device 30 includes a position information detection unit 34 that detects current position information of the robot 102, a radio wave signal storage unit 32 that stores radio wave signal information 322 and position information 321, and trigger signals at predetermined time intervals. A trigger signal generating unit 35 that generates radio waves, a radio wave receiving unit 31 that receives radio waves, detects radio wave signals, associates radio wave signal information representing the detected radio wave signals with position information, and stores them in the radio wave signal storage unit 32; A plurality of radio signal information stored in the radio signal storage unit 32 to detect the presence or absence of radio signals having the same characteristics; And an unauthorized radio wave detection unit 17 for detecting presence or absence.

  The radio wave receiver 31 receives radio waves and detects radio signals in accordance with the trigger signal generation timing, and further acquires position information from the position information detector 34. In addition, the radio wave reception unit 31 stores the detected radio wave signal and the acquired position information in the radio wave signal storage unit 32 in association with each other. Here, when the difference between the position information acquired from the position information detection unit 34 and the position information 321 stored in the radio signal storage unit 32 is greater than a predetermined distance difference, the radio wave reception unit 31 The radio wave signal storage unit 32 stores the positional information in association with each other. As a result, only the radio signal information at different positions can be stored in the radio signal storage unit 32 in accordance with the trigger signal generation timing.

  The radio signal comparison unit 33 is stored in the radio signal storage unit 32 in accordance with the trigger signal generation timing (for example, the timing at which the radio wave reception unit 31 stores the radio signal information and the position information in the radio signal storage unit 32). A plurality of radio signal information is acquired from the radio signal information 322 and compared. Thereby, the presence / absence of radio signals having the same characteristics is detected.

  The position information detection unit 34 detects position information of the main body of the robot 102 in accordance with the generation timing of the trigger signal. Here, the position information detection unit 34 detects position information independently of position information detected by the robot 102 using, for example, GPS. As a result, the radio wave detection device 30 can detect position information even when the radio wave detection device 30 is attached to a device carried by a person. In order to correct the generated position error, a plurality of pieces of position information may be detected to correct the position. Moreover, you may use well-known sensors, such as well-known visual sensors, such as a camera, and an ultrasonic sensor.

  The trigger signal generation unit 35 can be set as required, such as a predetermined time period, for example, 1 minute unit, 10 minute unit, 60 minute unit, 5 hour unit, 1 day unit, and the trigger signal is generated at a set time interval. appear.

  Next, the operation of the robot 102 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a flowchart for explaining the operation of the robot 102.

  In FIG. 6, the radio wave receiver 31 of the robot 102 waits for the trigger signal to be output from the trigger signal generator 35 (S201), and acquires the position information from the position information detector 34 in accordance with the generation of the trigger signal. (S202).

  The radio wave reception unit 31 of the robot 102 uses the position information (P2) about the position P2 acquired from the position information detection unit 34 and the position P1 stored in the radio signal storage unit 32 at the timing of the previous trigger signal. The position information (P1) is compared, and it is determined whether or not the distance between the position P2 and the position P1 is larger than a preset distance difference (S203). When the difference is larger than the preset distance difference, the radio wave receiving unit 31 receives the normal radio wave W2 at the position P2 and detects the radio wave signal S2 (S204).

  On the other hand, if it is smaller than the preset distance difference compared with the position information (P1) stored in the radio signal storage unit 32 at the timing of the previous trigger signal, the process returns to step S201, and the radio wave reception unit 31 The next trigger signal is awaited. This difference in distance is an experimentally obtained value assuming an environment in which the robot 102 is used in advance. For example, 2m, 5m, 10m, 50m, 100m, etc.

  The radio wave receiver 31 of the robot 102 detects the radio signal S2 in accordance with the generation of the trigger signal from the trigger signal generator 35, and then detects the radio signal information (S2) representing the radio signal S2 and the position information about the position P2. (P2) is associated and stored in the radio signal storage unit 32 as information (P2, S2) (S205). Here, the radio signal storage unit 32 stores information on position coordinates in the storage area of the position information 321 and information on radio signal in the storage area of the radio signal information 322. If the position information 321 is not present, the radio wave receiver 31 uses the information (P1, S1) stored first as an initial value.

  In this way, the robot 102 adjusts the position P3, the position P4,..., The position Pn having a preset distance difference in accordance with the trigger signal generated from the trigger signal generator 35 by the radio wave receiver 31. The radio signal S3, the radio signal S4,..., And the radio signal Sn detected at each position are stored in the radio signal storage unit 32 in association with each other. For example, information (P1, S1), information (P2, S2), information (P3, S3),..., Information (Pn, Sn) are sequentially stored in the radio signal storage unit 32. In order to maintain the correspondence between the position information about the position detected in response to the generation of the trigger signal and the radio signal information representing the radio signal detected at that position, a time stamp based on the temporal relationship is used. May be associated with each other or may be associated and distinguished in the order in which they are stored.

  As described above, the robot 102 compares the position information 321 about the position stored in the radio signal storage unit 32 at the timing of the previous trigger signal and the newly acquired position information, thereby obtaining a predetermined distance. It is determined whether there is a difference, and radio signal information to be newly stored is selected. Thereby, the robot 102 stores only the radio signal information detected at different positions in the radio signal storage unit 32. For example, if a predetermined distance difference is not obtained between the position information about the position P1 and the position information about the position P2, nothing is stored and the generation of the next trigger signal is awaited. In this way, it is possible to obtain data strings of (P3, S3),..., (Pn, Sn) having different position information while excluding information at the same position.

  Next, the radio signal verification unit 33 of the robot 102 detects whether or not a plurality of radio signal information, for example, a preset number of radio signal information is stored in the radio signal storage unit 32 (S206). . When a plurality of radio signal information is stored in the radio signal storage unit 32, the radio signal verification unit 33 extracts the plurality of radio signal information from the radio signal storage unit 32, compares the extracted plurality of radio signal information, and the same The presence / absence of a characteristic radio signal is detected (S207). For example, the radio signal verification unit 33 compares the radio signal S1 and the radio signal S2 from the information (P1, S1) and the information (P2, S2). In addition, in order to improve the accuracy of comparison, more radio wave signals may be extracted and compared. For example, the radio signal collation unit 33 may compare the extracted five, ten, twenty, and fifty radio signals.

  On the other hand, the robot 102 returns to step S201 when a plurality of radio signal information is not in the radio signal storage unit 32.

  Next, the unauthorized radio wave detection unit 17 of the robot 102 determines that the radio wave signal having the same characteristic is “present” when the radio wave signal collating unit 33 detects that the radio signal having the same characteristic is “present”. When it is detected that “absent” is detected, a detection result in which the unauthorized radio wave is determined to be “absent” is output (S208).

  Next, the notification unit 22 of the robot 102 issues a warning to the outside according to the detection result (S209). Here, when it is determined that the unauthorized radio wave is “present”, a warning is issued to the outside. Next, the robot 102 returns to step S201 and waits for generation of the next trigger signal. Thereafter, similarly, the processes of steps S201 to S209 are repeatedly performed.

  As described above, according to the second embodiment of the present invention, the robot 102 can acquire position information at predetermined time intervals, and can detect and store radio signal information at different positions. The presence / absence of a radio signal having the same characteristic can be detected by comparing the plurality of radio signal information. As a result, it is possible to detect the presence or absence of unauthorized radio waves emitted by an eavesdropper or voyeur that moves with the movement of the robot 102. From this detection result, a wireless eavesdropper or voyeur is attached to the robot that performs wireless communication. Determine.

  In addition, since the position information detection unit 34 such as GPS detects position information independently of the position information detected by the robot 102, the radio wave detection device 30 can be used as a device carried by a person or a device that moves. Even if it is mounted, position information can be detected.

  The position information and the radio signal information stored in the radio signal storage unit 32 may be deleted periodically, collectively, or in order from the oldest using a timer or a scheduler. Thereby, comparatively new radio signals can be compared with each other, and the amount of data stored in the radio signal storage unit 32 can be suppressed. In order to increase the accuracy of comparison, when more radio signals are extracted and compared, the erasure timing may be set according to the number of signals to be extracted.

  In addition, the radio wave reception unit 31 may store only the position information stored last in the radio wave signal storage unit 32 and similarly compare it with the newly acquired position information. Thereby, the amount of data stored in the radio signal storage unit 32 can be further reduced. Further, the position information detection unit 34 may acquire the position information when there is a position information acquisition request from the radio wave reception unit 31 without using the trigger signal. When the radio wave receiver 31 receives position information from the position information detector 34 in accordance with the trigger signal generation timing, the position information detector 34 may continuously detect the position information.

  Further, in accordance with the trigger signal, the position Pn and the radio signal Sn detected at the position are always associated with each other and registered in the radio signal storage unit 32, and the associated position information is compared when the radio signal collation unit 33 compares them. Based on the information, a plurality of pieces of radio signal information associated with different position information may be compared. Thereby, the history of the radio signal at each position can be saved later and can be used as history information.

  Further, an operation program for controlling the trigger signal generation interval in the trigger signal generator 35 may be executed by a central processing unit (hereinafter referred to as “CPU”). The trigger signal generator 35 may apply an interrupt by a system timer or the like. Further, when the robot 102 main body is not moving, the trigger signal interval of the trigger signal generator 35 may be lengthened or may be stopped.

(Embodiment 3)
Embodiment 3 of the present invention detects radio waves (hereinafter referred to as “self radio waves”) generated from the robot body, and reduces the influence of the self radio signal components from the signal components of normal radio waves received at each moving position. An embodiment to be described will be described.

  The configuration will be described below with reference to the drawings. FIG. 7 is a block diagram showing a configuration of the robot according to the third embodiment of the present invention. Hereinafter, the same reference numerals are given to the same parts as those of the first embodiment of the present invention, and the detailed description thereof is omitted.

  The difference between the robot 103 according to the third embodiment of the present invention and the robot 101 according to the first embodiment of the present invention is that an initialization setting unit 20 for setting an initialization operation is provided. Furthermore, in the radio wave detection device 40, a radio wave receiving unit 41 that receives a self radio wave emitted from the robot 103 main body and detects a radio wave signal based on the self radio wave (hereinafter referred to as "self radio wave signal"), radio wave signal information 421, A radio signal storage unit 42 that stores the self radio signal information 422, and a radio signal verification unit 43 that removes the stored self radio signal from a plurality of radio signals and compares the plurality of removed radio signals. It is a point. Thereby, it is possible to reduce the influence of the own radio wave included in the normal radio wave from the surroundings received at each moving position, and to detect the illegal radio wave with higher accuracy.

  As shown in FIG. 7, the radio wave detection device 40 has radio wave signal storage units 42 that store radio wave signal information 421 and self radio wave signal information 422 and position information detected from the actuator 24 at different positions. A radio wave signal having the same characteristics is obtained by removing the self radio wave signal from the plurality of radio wave signals stored in the radio wave signal storage unit 42 and the radio wave receiving unit 41 that detects the radio wave signal, and comparing the plurality of removed radio wave signals. A radio signal detection unit 43 that detects the presence or absence of radio waves, and an illegal radio wave detection unit 17 that determines the presence or absence of illegal radio waves according to the presence or absence of radio signals having the same characteristics. In addition, the radio wave receiving unit 41 stores the detected radio wave signal and the self radio wave signal in the radio wave signal storage unit 42.

  The initialization setting unit 20 causes the robot 103 to perform an initialization operation. Here, as the initialization operation, an operation of detecting the own radio signal and storing the own radio signal in the main body of the robot 103 is performed.

  The radio wave receiver 41 receives a self radio wave emitted from the main body of the robot 103 at the time of initialization and detects a self radio wave signal. The radio wave receiver 41 receives normal radio waves and detects radio signals in normal times. In addition, the radio wave reception unit 41 stores radio wave signals detected at different positions that have a preset difference in distance as radio wave signal information 421 in the radio wave signal storage unit 42. In addition, the radio wave reception unit 41 stores the detected self radio signal in the radio signal storage unit 42 as self radio signal information 422 at the time of initialization.

  The radio signal storage unit 42 stores the radio signal in the storage area of the radio signal information 421 and stores the self radio signal in the storage area of the self radio signal information 422. The radio wave signal storage unit 42 can use a magnetic disk device such as an HDD or a magneto-optical disk, or a storage device such as a semiconductor memory. The radio signal verification unit 43 detects the presence or absence of radio signals having the same characteristics by comparing a plurality of radio signals from which the stored self radio signals are removed.

  Next, the operation of the robot according to Embodiment 3 of the present invention will be described with reference to FIG. FIG. 8 is a flowchart for explaining the operation of the robot 103.

  In FIG. 8, when the robot 103 accepts the setting of the initialization mode (S301), the initialization setting unit 20 causes the coordinate position P0 at initialization (hereinafter referred to as “position P0”) to be sent to the position setting unit 21. Set (S302). Here, a shield room 51 (see FIG. 9 to be described later) prepared in advance for detecting the self radio wave is placed at the position P0. The position setting unit 21 outputs position information about the set position P0 to the actuator 24. The actuator 24 moves the main body of the robot 103 by rotating the wheels of the moving unit 25 with a motor.

  Next, the robot 103 is moved to the position P0 by the actuator 24 and stopped (S303). Next, the radio wave receiver 41 of the robot 103 receives the self radio wave W0 at the stopped position P0 and detects the self radio wave signal S0 (S304). Next, the radio wave reception unit 41 of the robot 103 stores the self radio wave signal S0 in the radio wave signal storage unit 42 as self radio wave signal information 422 (S305). The robot 103 completes the initialization operation by performing the processing from step S301 to S305.

  Next, the robot 103 performs detection of unauthorized radio waves and notification of an external warning or the like based on the detection result through the processing from step S306 to S316.

  Specifically, the robot 103 sets the first position P1, which is the movement destination, in the position setting unit 21 (S306). Thereby, the position setting unit 21 outputs position information about the set first position P1 to the actuator 24, and the actuator 24 moves the body of the robot 103 by rotating the wheels of the moving unit 25 by the motor. Let

  Next, the robot 103 moves to the first position P1 and stops (S307). The actuator 24 outputs a coincidence signal to the radio wave receiving unit 41 when the position information about the first position P1 set in the position setting unit 21 matches the detected position information. The radio wave receiving unit 41 can detect the radio wave signal at the coordinate position of each destination by detecting the radio wave signal in accordance with the timing of the coincidence signal. Here, in the radio wave receiver 41, S1 is a radio wave signal detected by receiving the normal radio wave W1, and S0 is a radio wave signal detected by receiving the own radio wave W0.

  Next, the radio wave receiver 41 of the robot 103 receives the normal radio wave W1 and the self radio wave W0 at the stopped first position P1, and detects a radio wave signal S1b represented by the following equation (S308).

S1b = S1 + S0
Next, the radio wave receiving unit 41 of the robot 103 stores the radio signal S1b at the first position P1 in the radio signal storage unit 42 (S309). Next, when the storage of the radio signal S1b is completed, the robot 103 sets the second position P2 as the movement destination in the position setting unit 21 (S310). As a result, the position setting unit 21 outputs position information about the set second position P2 to the actuator 24, and the actuator 24 moves the robot 103 main body by rotating the wheels of the moving unit 25 by the motor. .

  Next, the robot 103 moves to the second position P2 and stops (S311). Next, the radio wave receiving unit 41 of the robot 103 receives the normal radio wave W2 and the self radio wave W0 at the stopped second position P2, and detects a radio wave signal S2b represented by the following formula (S312). Here, in the radio wave receiver 41, S2 is a radio wave signal detected by receiving the normal radio wave W2, and S0 is a radio wave signal detected by receiving the own radio wave W0.

S2b = S2 + S0
Next, when the radio signal comparison unit 43 of the robot 103 compares the radio signal S1b stored in the radio signal storage unit 42 with the radio signal S2b, the component of the self radio signal S0 stored in the initialization operation is used. Remove. That is, the radio wave signal matching unit 43 compares the radio wave signal S1c from which the component of the self radio wave signal S0 is removed with the radio wave signal S2c, and detects the presence / absence of a radio wave signal having the same characteristic (S313). The radio signal S1c and the radio signal S2c are as follows.

S1c = S1b-S0
= S1 + S0-S0
= S1
S2c = S2b-S0
= S2 + S0-S0
= S2
Here, in the radio wave receiving unit 41, S1 is a radio signal detected by receiving the normal radio wave W1, S2 is a radio signal detected by receiving the normal radio wave W2, and S0 receives the self radio wave W0. It is a radio signal detected by.

  Thereby, compared with Embodiment 1 of this invention, the radio wave signal collation part 43 can remove the influence of the self radio wave signal S0 which has the same characteristic by removing the component of the self radio wave signal S0 at the time of collation. Therefore, the collation accuracy can be improved.

  Next, the unauthorized radio wave detection unit 17 of the robot 103 determines that the unauthorized radio wave is “present” when the radio signal with the same characteristic is detected as “present” from the radio signal collating unit 43, and the radio signal with the same characteristic is detected. A detection result in which an unauthorized radio wave is determined to be “absent” when “absent” is detected is output (S314).

  Next, the notification unit 22 of the robot 103 issues a warning to the outside according to the detection result (S315). For example, if the detection result indicates that there is an unauthorized radio wave “Yes”, the notification unit 22 displays a message such as “An illegal radio wave has been detected. An eavesdropping or voyeur device may have been attached to the main body”. Speak to the outside by voice. On the other hand, the notification unit 22 does nothing when the unauthorized radio wave is “none” in the detection result. Next, the radio wave receiving unit 41 of the robot 103 stores the radio wave signal S2b in the radio wave signal storage unit 42 (S316).

  As described above, the robot 103 performs the initialization operation by performing the processing from step S301 to S305, and detects the unauthorized radio wave by the processing from step S306 to S316 and alerts the outside based on the detection result. Notification.

  Note that the initialization setting unit 20 may be omitted if this initialization operation is performed at the time of shipment from the factory and the value of the self-radio signal is stored in the main body of the robot 103 in advance. Also, the initialization operation process from steps S301 to S305 may be omitted.

  Further, when one or more radio signals are stored in the radio signal storage unit 42, if one new radio signal is detected, a plurality of radio signals can be compared, so steps S306 to S309 are possible. It is not necessary to perform the process. By newly detecting one radio signal, a plurality of different radio signals can be compared. In addition, radio signals stored in the radio signal storage unit 42 are periodically or collectively deleted from the oldest one using a timer or a scheduler so that new radio signals can be compared with each other. It may be.

  In the operation of the robot 103, after the detection result is notified, the last detected radio signal is stored in the radio signal storage unit 42. However, after the detection result is notified, the radio signal is stored in the radio signal storage unit 42. You may make it erase | eliminate all the radio wave signals currently performed. Thereby, the latest radio wave signals can be compared each time, and the amount of data stored in the radio wave signal storage unit 42 can be suppressed.

  Next, a method for detecting a self-radiation wave emitted from the main body of the robot 103 will be described with reference to FIG. FIG. 9 is an explanatory diagram for explaining a state when detecting a self radio wave.

  In FIG. 9, as an initialization operation, the robot 103 moves to the shield room 51 where the external radio wave is blocked, detects a self radio wave signal emitted from the main body of the robot 103, and stores the self radio wave signal in the main body of the robot 103. To do. The shield chamber 51 is formed of, for example, a substantially rectangular parallelepiped made of an iron plate having a predetermined thickness, and blocks radio waves incident from the outside. Further, the shield room 51 is provided with an automatic opening / closing door, and the robot 103 can enter the shield room 51 by running independently.

  Specifically, the robot 103 enters the shield chamber 51 installed at the position P0 as an initialization operation, and puts the main body into an operating state. At this time, the radio wave receiving unit 41 receives the self radio wave W0 generated from the robot 103 itself in the normal operation state, and detects the self radio wave signal S0. The radio wave reception unit 41 stores the detected self radio wave signal S0 as self radio wave signal information 422 in the radio wave signal storage unit 42 in the robot 103 main body.

  The shield room 51 is not particularly limited to the above example, and when the robot 103 circulates a predetermined route in a building such as an apartment or transports luggage, the shield room 51 is provided with a charging function, The robot 103 may be placed in the shield chamber 51 and the initialization operation may be performed together with the charging of the robot 103.

  Next, with reference to FIG. 10, the separation between normal radio waves and unauthorized radio waves will be described. FIG. 10A is an explanatory diagram for explaining a radio wave state in which the illegal radio wave is “none”, and FIG. 10B is an explanatory diagram for explaining a radio wave state in which the illegal radio wave is “present”.

  First, the case where there is no unauthorized radio wave will be described with reference to FIG. In FIG. 10 (a), the robot 103 moves to the first position P1 and stops, and further moves to the second position P2 and stops. When the robot 103 moves to the first position P1 and stops, the radio wave receiving unit 41 receives the normal radio wave W1 and the self radio wave W0 and detects the radio wave signal S1b. S1b is as follows.

S1b = S1 + S0
Next, the robot 103 stores the radio signal S1b in the radio signal storage unit 42. Next, similarly, when the robot 103 moves to a second position P2 different from the first position P1 and stops, the radio wave receiving unit 41 receives the normal radio wave W2 and the self radio wave W0, and receives the radio wave signal S2b. To detect. The radio signal S2b is as follows.

S2b = S2 + S0
Here, when comparing the radio signal S1b and the radio signal S2b stored in the radio signal storage unit 42 by the radio signal verification unit 43, the robot 103 stores the radio signal S2b in the radio signal storage unit 42 in the initialization operation. The component of the self radio signal S0 is removed. That is, when comparing the radio signal S1b and the radio signal S2b, the radio signal verification unit 43 compares the radio signal S1c obtained by subtracting the self radio signal S0 from the radio signal S2b and the radio signal S2c. To do. The radio signal S1c and the radio signal S2c are as follows.

S1c = S1b-S0
= S1 + S0-S0
= S1
S2c = S2b-S0
= S2 + S0-S0
= S2
Here, in the radio wave receiving unit 41, S1 is a radio signal detected by receiving the normal radio wave W1, S2 is a radio signal detected by receiving the normal radio wave W2, and S0 receives the self radio wave W0. It is a radio signal detected by.

  Thereby, the radio wave signal collation unit 43 can remove the influence of the self radio wave signal S0 having the same characteristics at the time of collation and can detect that there is no common signal component.

  Next, with reference to FIG. 10B, a description will be given of a case where an unauthorized device 50 such as an eavesdropper or a voyeur camera is attached to the main body of the robot 103 and there is an unauthorized radio wave. 10B, similarly to FIG. 10A, the robot 103 moves to the first position P1 and stops, and further moves to the second position P2 and stops. At the first position P1, the robot 103 receives the normal radio wave W1, the illegal radio wave WA emitted from the unauthorized device 50, and the self radio wave W0 emitted by the robot 103 by the radio wave receiver 41, and detects the radio signal S1d. . The radio signal S1d is as follows.

S1d = (S1 + S0) + SA
Here, in the radio wave receiving unit 41, S1 is a radio signal detected by receiving the normal radio wave W1, S0 is a radio signal detected by receiving the self radio wave W0, and SA receives the illegal radio wave WA. It is a radio signal detected by.

  Next, the robot 103 similarly moves to a second position P2 different from the first position P1 and stops, and the normal radio wave W2, the illegal radio wave WA emitted from the illegal device 50, and the self generated by the robot 103 are stopped. The radio wave W0 is received and the radio signal S2d is detected. The radio signal S2d is as follows.

S2d = (S2 + S0) + SA
Here, in the radio wave receiving unit 41, S2 is a radio signal detected by receiving the normal radio wave W2, S0 is a radio signal detected by receiving the own radio wave W0, and SA is receiving the illegal radio wave WA. It is a radio signal detected by.

  Further, the robot 103 compares the radio signal from which the component of the self radio signal S0 stored in the radio signal storage unit 42 at the time of initialization is compared, thereby improving the detection accuracy of the radio signal having the same characteristic. Specifically, when comparing the detected radio signal S1d with the radio signal S2d, the radio signal matching unit 43 subtracts the self radio signal S0 from the radio signal S1d and the radio signal S2d. The radio wave signal S2e is compared. The radio signal S1e and the radio signal S2e are as follows.

S1e = (S1 + S0 + SA) −S0
= S1 + SA
S2e = (S2 + S0 + SA) -S0
= S2 + SA
Here, in the radio wave receiving unit 41, S1 is a radio signal detected by receiving the normal radio wave W1, S2 is a radio signal detected by receiving the normal radio wave W2, and S0 receives the self radio wave W0. , SA is a radio signal detected by receiving an illegal radio wave WA.

  Thereby, the radio wave signal collating unit 43 can remove the influence of the component of the self radio wave signal S0 by comparing the radio wave signal S1e and the radio wave signal S2e, and can detect the common signal component SA with high accuracy. The robot 103 determines the presence or absence of unauthorized radio waves based on the presence or absence of the common signal component SA. As a result, the presence / absence of the unauthorized device 50 attached to the main body can be determined from the presence / absence of the unauthorized radio wave.

  Next, a method for detecting the presence / absence of a radio signal having the same characteristic in the radio signal verification unit 43 will be described in more detail with reference to FIG. FIG. 11A and FIG. 11B show the results of frequency analysis performed on the radio signal at the first position P1 and the second position P2 in FIG. FIGS. 11 (c) and 11 (d) show the results of frequency analysis of the radio signal at each of the first position P1 and the second position P2 in FIG. FIG. In FIG. 11, the horizontal axis represents the frequency component of the radio signal, and the vertical axis represents the signal level.

  First, detection when there is no radio signal having the same characteristics will be described with reference to FIGS. 11 (a) and 11 (b). When comparing the stored radio signal S1b (= S1 + S0) with the detected radio signal S2b (= S2 + S0), the robot 103 first digitizes each signal in the analysis unit of the radio signal verification unit 43.

  Specifically, as shown in FIGS. 11A and 11B, the measurement frequency band is divided at equal intervals, and the signal level is larger than a preset threshold th for each divided region. By assigning “1” to “1” and “0” when small, the radio signal is converted into a radio signal matrix.

  Here, the difference between the radio signal verification unit 43 of the third embodiment of the present invention and the radio signal verification unit 15 of the first embodiment of the present invention is that initialization is performed when a radio signal is converted into a radio signal matrix. The point is that the component of the own radio signal S0 stored in the radio signal storage unit 42 during operation is removed from each radio signal.

  Thus, the radio signal matrix at the first position P1 is (0, 0, 0, 0, 1, 0, 0, 0, 0, 0), and the radio signal matrix at the second position P2 is (0, 0, 0, 0, 0, 0, 0, 1, 0, 0). At this time, the influence of the self-radio wave signal S0 having the same characteristics is removed.

  Next, a logical product (AND) process is performed on each column element corresponding to the radio signal matrix at the first position P1 and the second position P2 in the comparison unit of the radio signal comparison unit 43. At this time, if even one matrix element after processing has “1”, a radio signal with the same characteristic is detected as “present”, and if there is no “1”, there is no radio signal with the same characteristic. Is detected. From FIG. 11 (a) and FIG. 11 (b), the logical product (AND) processing results of the radio signal matrices at the first position P1 and the second position P2 are (0, 0, 0, 0, 0, 0, 0, 0, 0, 0), the radio signal having the same characteristic is detected as “none”.

  Next, detection when there are radio signals having the same characteristics will be described with reference to FIGS. 11C and 11D, similarly, the robot 103 compares the stored radio signal S1d (= (S1 + S0) + SA) with the detected radio signal S2d (= (S2 + S0) + SA). First, each signal is digitized by the analysis unit of the radio wave signal matching unit 43.

  Also at this time, as in the previous case, the component of the own radio signal S0 stored in the radio signal storage unit 42 during the initialization operation is removed from each radio signal for conversion. As a result, the radio signal matrix at the first position P1 is (0, 1, 1, 0, 1, 0, 0, 0, 0, 0), and the radio signal matrix at the second position P2 is (0, 1, 1, 0, 0, 0, 0, 1, 0, 0), and the influence of the self-radio wave signal S0 having the same characteristics is also eliminated at this point.

  Next, in the comparison unit of the radio signal verification unit 43, the logical product process is similarly performed on each column element corresponding to the radio signal matrix of the first position P1 and the second position P2. Here, in FIG. 11 (c) and FIG. 11 (d), the logical product processing result of the radio signal matrix at the first position P1 and the second position P2 is (0, 1, 1, 0, 0, 0). , 0, 0, 0, 0), only the radio signal SA having the same characteristic other than the self radio signal S0 is detected, and the radio signal having the same characteristic is detected as “present”.

  As described above, according to the third embodiment of the present invention, the robot 103 receives the self radio wave W0 emitted from the robot body, stores the detected self radio wave signal S0 in advance, and detects the radio wave detected at the time of collation. The stored self radio wave signal S0 is removed from the signal. Thereby, the common signal component of the same characteristic can be detected with high accuracy, and the presence / absence of unauthorized radio waves from a wiretap or a voyeur can be detected with high accuracy.

  Also, by separating the self radio wave generated from the robot main body from the illegal radio wave emitted by an eavesdropper or a voyeur camera, even a robot with a strong self radio wave can detect the illegal radio wave with high accuracy. As a result, it is possible to accurately detect even an illegal radio wave having a frequency close to the self radio wave. In addition, you may make it previously memorize | store in the radio signal storage part 42 as the radio signal information 421 what remove | excluded self radio signal S0 from the radio signal.

(Embodiment 4)
Embodiment 4 of the present invention describes an embodiment in which the function included in each block is stopped to suppress the influence of the self-radiation generated from the robot body when the robot receives the radio wave information.

  The configuration will be described below with reference to the drawings. FIG. 12 is a block diagram showing the configuration of the robot according to Embodiment 4 of the present invention. Hereinafter, the same reference numerals are given to the same parts as those of the first embodiment of the present invention, and the detailed description thereof is omitted.

  The difference between the robot 104 according to the fourth embodiment of the present invention and the robot 101 according to the first embodiment of the present invention is that a function of a predetermined block is detected while the radio wave receiving unit 12 detects a radio wave signal in the radio wave detection device 60. The stop control unit 28 for suppressing the self-radiation generated from the main body of the robot 104 is provided, and the transmission / reception unit 29 is further provided. Thereby, when detecting a radio signal at each moving position, the influence of the self radio wave generated from the main body of the robot 104 included in the normal radio wave is reduced, and the detection accuracy of the illegal radio wave is improved.

  The stop control unit 28 controls whether or not to stop the functions included in the first block BA, the second block BB, and the third block BC in units of blocks. Thereby, generation | occurrence | production of an electromagnetic wave is suppressed. Here, the first block BA includes the actuator 24 and the moving unit 25. Similarly, the second block BB includes a notification unit 22, a detection result storage unit 23, a display unit 26, and a setting unit 27, and the third block BC includes a transmission / reception unit 29. ing.

  The transmission / reception unit 29 has a function of transmitting / receiving information stored in the radio signal storage unit 14 and the detection result storage unit 23, control information of the robot from the outside, and the like via the transmission antenna 11. The transmission / reception contents include, for example, the operating status of the robot 104, history information of detection results, stored radio signal information, command commands from external devices, and the like.

  Next, the operation of the robot 104 will be described. The robot 104 receives surrounding radio waves at the stopped first position P1 and the second position P2, which is different from the first position P1, and determines whether there is an unauthorized device. First, the robot 104 is included in the second block BB and the third block BC having functions not used at that time by the control signal 282 and the control signal 283 from the stop control unit 28 at the stopped first position P1. The function to be stopped is stopped. Thereby, first, the transmission / reception unit 29 included in the third block BC is stopped, and the transmission of the radio wave to the outside is stopped. Further, the function included in the second block BB is also stopped, and radio noise is reduced. Furthermore, the actuator 24 and the moving unit 25 included in the first block BA may be stopped by the control signal 281 as necessary. This further reduces radio noise.

  If the robot 104 stops the second block BB and the third block BC by the stop control unit 28 and then detects the radio signal S1 by the radio wave receiving unit 12, the robot 104 suppresses the influence of radio noise caused by the own radio wave. Can do. The radio wave reception unit 12 and the radio signal storage unit 14 are not included in the second block BB and the third block BC, and are in an active state. Therefore, the radio wave reception unit 12 and the radio signal storage unit 14 receive the normal radio wave W1 at the first position P1 and detect the radio signal S1. And there is no problem with memory.

  Next, the robot 104 stores the radio signal S1 in the radio signal storage unit 14, and then moves to the second position P2 and stops. The robot 104 stops the second block BB and the third block BC by the control signal 282 and the control signal 283 from the stop control unit 28 at the stopped second position P2, and the radio wave receiving unit 12 The signal S2 is detected. The radio wave receiver 12 of the robot 104 receives the normal radio wave W2 at the second position P2, and stores the detected radio wave signal S2 in the radio wave signal storage unit 14.

  After the storage of the radio signal S2 is completed, the robot 104 activates the second block BB by the control signal 282 of the stop control unit 28. Further, the robot 104 compares the radio signal S1 stored in the radio signal storage unit 14 with the radio signal S2 by the radio signal verification unit 15. The unauthorized radio wave detection unit 17 detects the presence / absence of an unauthorized radio wave by detecting the presence / absence of a signal having the same characteristic from the collation result in the radio wave signal collation unit 15. The unauthorized radio wave detection unit 17 stores the detection result in the detection result storage unit 23. Further, the notification unit 22 warns the outside when the unauthorized radio wave is “present”. The stop control unit 28 may control the third block BC to the active state by the control signal 283, and transmit the data in the detection result storage unit 23 to the outside by the transmission / reception unit 29.

  As described above, the robot 104 can detect the illegal radio wave emitted from the unauthorized device with high accuracy by suppressing the self radio wave generated from the inside of the robot body while detecting the radio signal S1 and the radio signal S2.

  The unit to be stopped is a block unit, but may be for each function that performs a predetermined process. For example, only the notification unit 22 may be stopped or only the detection result storage unit 23 may be stopped. Various modifications are possible. If only the transmitter / receiver 29 is the main cause of radio noise and it is sufficient to reduce only the radio noise, the transmitter / receiver 29 alone may be stopped. In this way, by deactivating the unit that causes the main radio noise, the noise component can be reduced and the radio signal S1 and the radio signal S2 can be detected.

  Further, when the robot 104 is moving on a flat place and stopped, it may not always be necessary to perform positioning control using the actuator 24 or the like. In such a case, the power of the actuator 24 may be stopped only while the radio signal is detected. Thereby, generation | occurrence | production of the electromagnetic wave from the inside of a robot main body can be suppressed, and the detection precision of an unauthorized radio wave can be improved.

  As described above, according to the fourth embodiment of the present invention, the robot 104 suppresses a self-radio wave generated from the inside of the robot 104 main body by stopping a predetermined function while detecting the radio wave signal. This makes it possible to detect unauthorized radio waves emitted by an eavesdropper or a voyeur camera with higher accuracy.

(Embodiment 5)
In the fifth embodiment of the present invention, an embodiment in the case of detecting an eavesdropper or a voyeur that operates by sound detection will be described. The configuration will be described below with reference to the drawings. FIG. 13 is a block diagram showing a configuration of the robot in the fifth embodiment of the present invention. Hereinafter, the same reference numerals are given to the same parts as those of the first embodiment of the present invention, and the detailed description thereof is omitted.

  As shown in FIG. 13, the difference between the robot 105 according to the fifth embodiment of the present invention and the robot 101 according to the first embodiment of the present invention is that the radio wave detecting device 70 detects a radio wave signal in the radio wave receiving unit 72. The trigger signal is sometimes generated, and the inspection sound generator 71 that generates the inspection sound according to the trigger signal is provided. As a result, by generating a sound while detecting a radio signal, an eavesdropper or a voyeur that operates by sound detection can be operated, and an unauthorized radio wave generated from the eavesdropper or the voyeur can be detected. .

  Similarly to the first embodiment, the radio wave receiver 72 detects a radio wave signal in accordance with the timing of the coincidence signal output from the actuator 24. Furthermore, the radio wave receiver 72 outputs a trigger signal to the inspection sound generator 71 in accordance with the coincidence signal. The inspection sound generator 71 drives a speaker or the like according to the trigger signal from the radio wave receiver 72 to generate a preset sound. As a result, the inspection sound generating unit 71 can operate a wiretap or a voyeur that transmits illegal radio waves by sound detection.

  Next, the operation of the robot 105 will be described. The robot 105 moves to the first position P1 and stops, and further moves to the second position P2 and stops. While detecting a radio signal at each stop position, the robot 105 generates an inspection sound by the inspection sound generation unit 71 and detects an unauthorized radio wave emitted by a sound-sensitive type unauthorized device.

  The robot 105 first moves to the first position P1 and stops, and outputs a trigger signal from the radio wave receiver 72 to the inspection sound generator 71 in accordance with the timing of the coincidence signal output from the actuator 24. An inspection sound is generated from a speaker provided in the sound generation unit 71.

  Next, the robot 105 detects the radio signal S1 by the radio wave receiver 72 at the stopped position P1. Next, the robot 105 stores the detected radio signal S1 in the radio signal storage unit 14. After storing the radio signal S1, the robot 105 stops the inspection sound by the inspection sound generator 71.

  Next, the robot 105 moves to a second position P2 different from the first position P1 and stops. Similarly, in accordance with the timing of the coincidence signal output from the actuator 24, the robot 105 receives the inspection sound. A trigger signal is output to the generation unit 71, and an inspection sound is generated from a speaker included in the inspection sound generation unit 71. Next, the robot 105 detects the radio signal S2 by the radio wave receiving unit 72 at the stopped second position P2.

  Next, the robot 105 compares the radio signal S <b> 1 stored in the radio signal storage unit 14 with the radio signal S <b> 2 detected from the radio signal receiver 72 by the radio signal verification unit 15, and determines whether there is a signal having the same characteristic. Is detected. Further, the robot 105 detects the presence or absence of unauthorized radio waves using the unauthorized radio wave detection unit 17. After comparing the radio signal S1 and the radio signal S2 stored in the radio signal storage unit 14, the robot 105 stops the inspection sound by the inspection sound generation unit 71.

  Thereby, even if the robot 105 is an eavesdropper or a voyeur that emits radio waves when the attached unauthorized device senses sound by the inspection sound generation unit 71, the radio wave reception unit 72 uses the radio signal S1 or radio signal S2. While detecting, an inspection sound can be generated from the speaker, and unauthorized radio waves can be detected. Here, since the inspection sound from the speaker may be annoying, by generating the inspection sound only while the radio wave reception unit 72 detects the radio signal S1 or the radio signal S2, it is annoying to the surroundings. We are careful not to become.

  The influence of the self radio wave generated from the speaker included in the inspection sound generator 71 can be removed by the method of removing the self radio wave signal S0 described in the second embodiment of the present invention, and can be applied as necessary. Also good.

  As described above, according to the fifth embodiment of the present invention, the robot 105 can detect the presence or absence of unauthorized radio waves even when an unauthorized device such as an eavesdropper operating in response to sound is attached.

  The sound generated by the robot is not particularly limited to the inspection sound described above, and various changes can be made. For example, when detecting a radio wave, or after detecting an illegal radio wave, the robot itself produces a unique singular sound (M series, etc.) that is unique to itself and tunes to the frequency at which the spectrum stands and Demodulation may be performed to detect the presence of unauthorized radio waves when the radio signal includes this singular sound.

  Specifically, the inspection sound generating unit 71 generates a minute singular sound (such as an M series), and the radio wave receiving unit 72 receives a radio wave signal including the singular sound. The radio signal matching unit 15 demodulates the radio signal by tuning to the frequency where the spectrum stands, and if the singular sound is demodulated, the radio signal having the same characteristic as the singular sound is detected as “present”, and the singular sound is demodulated. Otherwise, the radio signal having the same characteristics as the singular sound is detected as “none”. The unauthorized radio wave detection unit 17 determines that there is an unauthorized radio wave “present” when the radio signal matching unit 15 detects that the radio signal having the same characteristic as that of the singular sound is “present”. When it is detected that “absence” is detected, a detection result that is determined to be illegal radio wave “none” is output. In this case, since the singular sound generated by the robot itself is detected to detect unauthorized radio waves, it is possible to accurately detect the eavesdropper or the voyeur.

The singular sound is not particularly limited to the above example, and a motor driving sound of the actuator 24, a wheel sound or a speed reducer sound of the moving unit 25 may be used. In this case, the inspection sound generating unit 71 is omitted. can do. In addition, a microphone that collects the driving sound of the robot itself is provided in place of the inspection sound generating unit 71. If the driving sound measured by this microphone matches the demodulated singular sound, there is an illegal radio wave “present” May be determined. The demodulation of the singular sound is preferably performed at least between two points. In this case, it is possible to detect a wiretap or a voyeur with higher accuracy.

(Embodiment 6)
In the sixth embodiment of the present invention, an embodiment in which an eavesdropper or a voyeur is detected using the position where the environmental radio wave energy that is environmental noise is the smallest as a measurement position will be described. The configuration will be described below with reference to the drawings. FIG. 14 is a block diagram showing a configuration of the robot in the sixth embodiment of the present invention.

  The difference between the robot 106 shown in FIG. 14 and the robot 101 according to the first embodiment of the present invention is that the radio wave intensity representing the intensity of the environmental radio wave at the position in association with each position in the use space (working range) of the robot 106. A map storage unit 18 that stores the map, and a measurement position selection unit 19 that selects a measurement position with a low intensity of the environmental radio wave based on the radio wave intensity map stored in the map storage unit 18, and a position setting unit 21 Outputs the measurement positions selected by the measurement position selection unit 19 as the first and second positions P1 and P2 to the actuator 24, and detects an eavesdropper or a voyeur camera using the two positions with low radio field strength as measurement positions. It is. Note that the processing after the two positions with low radio field intensity are set as the first and second positions P1 and P2 is the same as in the first embodiment of the present invention. The detailed explanation is omitted.

  In order to detect illegal radio waves, the detection accuracy increases (the S / N ratio increases) when the intensity of the illegal radio wave is larger than the intensity of the existing environmental radio wave. Therefore, in the present embodiment, the radio field strength map of the usage space is held in the map storage unit 18, the measurement position selection unit 19 selects two locations where the radio field strength is relatively weak, and the robot 106 Unauthorized radio waves are detected using two points as measurement positions. Note that the measurement position is not particularly limited to two points, and measurement may be performed at three or more points with low radio field intensity.

  The radio wave intensity map is created, for example, by measuring the radio wave intensity at each point while the robot service provider remotely operates the robot in the usage space in advance, and is stored in the map storage unit 18 in advance. FIG. 15 is a schematic diagram illustrating an example of a radio wave intensity map.

First, lattice points GP are allocated to the usage space US of the robot 106 at regular intervals, and as shown in the following equation, the coordinates (x _i , y _j ) and the radio wave intensity P _ij (at the lattice points) for each lattice point GP. A set of sums of spectrum intensities of each frequency or a sum of squares is assigned.

PMap = {(x _i , y _j , P _ij ) | i = 0,..., N−1, j = 0,.
However, −1 is assigned to a point that does not exist in the usage space US, and, for example, (x ₁ , y _m−2 , −1) is assigned to the coordinates (x ₁ , y _m−2 ) illustrated in FIG. 15. It is done. Here, the interval between the lattice points GP can be arbitrarily set in advance, such as 10 cm, 20 cm, and 50 cm, but is not particularly limited to this example, and the lattice points are assigned to arbitrary points in the usage space. You may do it.

  As described in the second embodiment, the radio wave intensity map measures radio wave measurements at regular time intervals during daily running, and associates the radio wave intensity when no illegal radio wave is measured with the position at each time. May be stored.

  In addition, for example, a plurality of robots are arranged in a building such as a condominium or an airport, the plurality of robots are provided with a transmission / reception unit as in the fourth embodiment, and a management device that manages the plurality of robots can communicate with each robot. In the case where the robot is configured, the radio wave intensity may be measured and transmitted to the management apparatus when each robot is traveling around a predetermined route. In this case, the management device collects the radio field intensity measured by each robot and creates a radio field intensity map, notifies the radio field intensity map or a place where the radio field intensity selected from the radio field intensity map is weak, The detected radio wave signal can be transmitted to the management apparatus, and the management apparatus can detect the presence or absence of unauthorized radio waves and transmit the detection result to each robot.

  Next, a method for selecting two points to be used for detection of unauthorized radio waves from the radio wave intensity map will be described with reference to the flowchart of FIG. FIG. 16 is a flowchart for explaining measurement position selection processing by the measurement position selection unit 19 shown in FIG. It is assumed that the radio wave intensity map has already been obtained and stored in the map storage unit 18.

First, the measurement position selection unit 19 _prepares i _min1 , i _min2 , j _min1 , j _min2 , P _min1 and P _min2 in the memory space (S401), _initializes P _min1 and P _min2 to −1, and i And j are set to 0 (S402). Next, the measurement position selection unit 19 increments i and j one by one in order (S403, S404). First, if P _ij is −1 (S405), the measurement position selection unit 19 proceeds to the next set of i and j. (S412, S413).

On the other hand, when P _ij is not −1 and P _min1 is −1 (S406), the measurement position selection unit 19 _substitutes P _ij for P _min1 , i for i _min1 , and j for j _min1. (S407), the process proceeds to the next set of i and j until i becomes n-1 and j becomes m-1 (S412 and S413).

_{Also, P min1} is not -1, _and, if _{P ij} is smaller than _{P min1} (S408), the measurement position selecting unit _19, the _{i min1} to _{P min1, i min2} to _{P min2,} the _{j min1} to _{j min2} respectively _substituted, a _{P ij} to _{P min1,} i to _{i min1,} the j and assigns each _{j min1} (S409), i is the n-1, the next to j is m-1 i, j- Transition to a set (S412 and S413).

On the other hand, when P _ij is _greater than or equal to P _min1 in step S408, if P _min2 is −1 or P _ij is smaller than P _min2 (S410), the measurement position selection unit 19 sets P _ij to P _min2. , i to _{i min2,} substituted respectively j to _{j min2} (S411), i is the n-1, j is moved to the next i, j pairs until m-1 (S412, S413) .

With the above processing, the measurement position selection unit 19 can select two points with weak radio wave intensity in the usage space, and the position setting unit 21 can select these two points (x _min1 , y _min1 ), (x _min2 and _ymin2 ) are set as the first position P1 and the second position P2, respectively. Thereafter, as in the first embodiment, the robot 106 sets the two points (x _min1 , y _min1 ) and (x _min2 , y _min2 ) as the first position P1 and the second position P2, respectively, between the two points. Are compared to detect the presence or absence of unauthorized radio waves.

  In this way, the robot 106 can autonomously search for a place where the total energy of the environmental radio waves is minimum, and can select the two points having the weakest radio wave intensity and detect the presence or absence of unauthorized radio waves. Environmental noise can be minimized to improve the S / N ratio of detection processing for eavesdropping radio waves and voyeur radio waves, and it is possible to detect illegal radio waves emitted from unauthorized devices with high accuracy.

  In this embodiment, the location where the total energy of the environmental radio waves is minimized is autonomously searched. However, the environmental radio waves are likely to be reflected near walls and furniture. You may make it detect. Further, a known transmission source (for example, a wireless LAN access point) may be stored in the radio wave intensity map, and a position far from the transmission source may be selected as a measurement position.

  Moreover, although the spectrum intensity (level of each spectrum) is stored as the radio wave intensity map, the present invention is not particularly limited to this example, and the variance of the spectrum level is stored, and a point where the variance is equal to or less than a predetermined threshold is used as a measurement position. You may make it select. In addition, the measurement position may be selected in consideration of the level dispersion according to the time zone and the fluctuation cycle of the dispersion.

(Embodiment 7)
In the seventh embodiment of the present invention, an embodiment in which an eavesdropper or a voyeur attached to a load is detected when the robot transports the load will be described. The configuration will be described below with reference to the drawings. FIG. 17 is a block diagram showing a configuration of the robot in the seventh embodiment of the present invention. Hereinafter, parts similar to those of the second embodiment of the present invention are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 17, the difference between the robot 107 according to the seventh embodiment of the present invention and the robot 102 according to the second embodiment of the present invention is that in the radio wave detection device 30a, instead of the trigger signal generating unit 35, a package This is the point that a load detection unit 36 that detects that the item is placed and generates a trigger signal is added.

  The load detection unit 36 detects that a load is placed on the load table of the robot 107 using a weight sensor or a contact sensor, and generates a trigger signal. Note that the method for detecting the luggage is not particularly limited to the above example. For example, a luggage box may be installed in the robot 107, and a trigger signal may be generated by detecting an opening / closing operation of the door of the luggage box.

  When the load is placed on the load table on the robot 107, the load detection unit 36 detects that the load is placed on the robot 107 and outputs a trigger signal to the radio wave reception unit 31 and the position information detection unit 34. Thereafter, the operation is performed in the same manner as in the second embodiment, and a plurality of radio signal information and a plurality of position information are detected to detect an eavesdropper or a voyeur camera attached to the luggage. In the above detection operation, in the second embodiment, the radio signal is collated when a predetermined number of radio signal information is stored in the radio signal storage unit 32 (step S206). The processing may be omitted, and radio signal verification may be performed each time a package is placed.

  With the above configuration, according to the seventh embodiment of the present invention, the robot 107 can detect the presence / absence of a radio signal having the same characteristics when the package is placed. Even when an eavesdropper or a voyeur is attached to the camera, the eavesdropper or the voyeur can be accurately detected.

  In this embodiment, as in the second embodiment, when it is determined that an eavesdropper or a voyeur camera is attached to the baggage, an external warning is issued, but instead of or in addition to this If it is recognized that the eavesdropper or voyeur camera is attached to the package after leaving the cargo, the first warning will be sent to the delivery user's computer when the package is delivered. Or, after delivery, after confirming the radio wave condition, a second warning may be sent to the delivery destination user's computer or the like.

  Further, in the present embodiment, the radio wave receiving unit 31 has a difference between the positional information acquired from the positional information detection unit 34 and the positional information 321 stored in the radio signal storage unit 32 as in the second embodiment. When the difference between the predetermined distances is greater than the predetermined distance, the radio signal information and the position information are associated with each other and stored in the radio signal storage unit 32, whereby the radio signal storage unit 32 stores different positions according to the trigger signal generation timing. However, the present invention is not particularly limited to this example, and various changes can be made.

  For example, when the difference between the position information acquired from the position information detection unit 34 and the position information 321 stored in the radio signal storage unit 32 is equal to or less than a predetermined distance difference, the position of the robot 107 and the radio signal storage unit 32. The radio wave reception unit 31 may set the position of the movement destination of the robot 107 in the position setting unit 21 so that the difference from the position indicated by the position information 321 stored in is larger than the difference between the predetermined distances. . At this time, after the position setting unit 21 outputs the set position information of the destination to the actuator 24 and moves the robot 107, the radio wave receiving unit 31 receives the radio wave and detects the radio wave signal. The radio signal information and the position information may be stored in the radio signal storage unit 32 in association with each other. Also in this case, since it is possible to detect the presence or absence of radio signals having the same characteristics at a plurality of different positions, it is possible to accurately detect a wiretap or a voyeur with a wiretap or a voyeur mounted on the luggage. .

  Further, the position information detecting unit 34 is omitted, and the radio wave receiving unit 31 detects the radio wave signal by receiving the radio wave in accordance with the trigger signal generation timing, that is, the luggage detection timing, regardless of the position of the robot 107. The detected radio signal may be stored in the radio signal storage unit 32. At this time, the radio signal matching unit 33 is detected at the timing of the current trigger signal and detected at the timing of the radio signal and the trigger signal immediately before (or before) and stored in the radio signal storage unit 32. Compared with radio signals, the presence or absence of radio signals with the same characteristics is detected. In this case, it is possible to detect an eavesdropper or a voyeur attached to the luggage by collating the detected radio signal every time the luggage is placed.

  Further, in this embodiment, the unauthorized radio wave is detected by triggering that the package is placed. However, the present invention is not particularly limited to this example, and the radio wave condition before the package is placed and the package is loaded. It may be determined that an eavesdropper or a voyeur is attached to the package by comparing the radio wave condition after being placed.

  In each of the above embodiments, the radio waves of the eavesdropper or the voyeur are detected between two different points. However, the present invention is not particularly limited to this example, and the presence or absence of the radio waves of the eavesdropper or the voyeur is detected. Or, when the radio waves of the voyeur are detected, compare the presence or absence of the spectrum of the detected radio wave band by moving between two points, and if there is no change in characteristics due to location movement (if it is small), eavesdropping on the robot itself or luggage It may be determined that a device or a voyeur is attached.

  In each of the above embodiments, a warning is given after detection of a wiretap or a camera, but the post-detection procedure is not particularly limited to this example, and the robot autonomously enters the shield room and wiretap. You may make it intercept the radio wave of an instrument or a voyeur, or transmit the jamming radio wave of the same frequency band as the radio wave of a bugger or a voyeur.

  The radio wave detection device or robot according to the first to seventh embodiments of the present invention may be implemented by hardware using an integrated circuit or the like, or by software using a CPU or the like. May be.

  First, when the radio wave detection processing is performed by hardware, each function in the embodiment of the present invention may be an integrated circuit that is individually integrated into one chip, or may be integrated into one chip so that part or all of the functions are included. An integrated circuit may be used.

  The integrated circuit may be realized by a dedicated circuit or a general-purpose processor. For example, a Field Programmable Gate Array (FPGA) that can be programmed after manufacturing a semiconductor chip, or a reconfigurable processor that can reconfigure the connection and setting of cells inside the integrated circuit may be used.

  Further, if integrated circuit technology comes out as a result of advances in semiconductor technology or other derived technology, it is naturally also possible to carry out function block integration using this technology. For example, biocomputers may be applied due to advances in biotechnology.

(Embodiment 8)
In the eighth embodiment of the present invention, an embodiment in which the above-described radio wave detection processing is implemented by software will be described. The configuration will be described below with reference to the drawings. FIG. 18 is a block diagram showing a configuration of a computer system according to the eighth embodiment of the present invention. Hereinafter, the same parts as those in Embodiments 1 to 7 are denoted by the same reference numerals, and detailed description thereof is omitted.

  In FIG. 18, the computer system 108 includes a moving unit 25 for moving to a position set by position setting, an actuator 24 for driving the moving unit 25, and an initialization setting unit 20 for setting an initialization operation. The radio wave receiving unit 12 that receives radio waves by the antenna 13 and detects radio signal, the position information detection unit 34 that detects position information, the I / F unit 86 that inputs and outputs signals, and stores radio signals. A radio signal storage unit 14, a map storage unit 18 for storing a radio field intensity map, an informing unit 22 for issuing a warning to the outside, a display unit 26 for displaying a detection result, a setting unit 27 for setting display contents, and a package , A load detection unit 36 that generates a trigger signal upon detecting that it is placed, an inspection sound generation unit 71 that generates a sound when detecting a radio signal, an HDD 81 that stores a detection result, A communication I / F unit 82 for communicating with the parts, a drive 83 for inputting and outputting information from the information recording medium, and a control unit 80.

  The control unit 80 controls the operation of the robot and performs radio wave detection processing. The control unit 80 controls the actuator 24 and the moving unit 25 and acquires radio wave signals from the radio wave reception unit 12 according to a predetermined control program and radio wave detection processing program. , Acquisition of position information from the position information detection unit 34, exchange of internal signals, robot operation processing such as illegal radio wave detection processing and signal processing, etc., radio signal verification unit 15, illegal radio wave detection unit 17, measurement position selection unit 19, functions as a position setting unit 21, a trigger signal generation unit 35, a stop control unit 28, and the like.

  The control unit 80 includes a CPU 801 for processing instructions of various programs, a read-only memory 802 (hereinafter referred to as “ROM 802”) in which a radio wave detection processing program and the like are stored, and a random access memory for storing temporarily stored data 803 (hereinafter referred to as “RAM 803”).

  The CPU 801 performs various processes according to a program stored in the ROM 802, a program stored in the HDD 81, or a program stored in the RAM 803. The CPU 801 temporarily stores data necessary for processing of each unit in the RAM 803.

  The drive 83 appropriately connects a computer-readable recording medium, and acquires storage information such as a radio wave detection processing program stored in the recording medium. The computer-readable recording medium is, for example, a disk 85 such as a magnetic disk, a magneto-optical disk, or an optical disk, or a memory card 84 such as a semiconductor memory. The drive 83 writes storage information created by the computer system 108 to the recording medium. As the stored information, a component of a radio signal of an illegal radio wave generated by an unauthorized device, information on a position where an illegal radio wave is detected, history information where an illegal radio wave is detected, and the like may be stored. Further, information on illegal radio waves may be stored in the disk 85 or the memory card 84, and the information may be given to the computer system 108.

  The HDD 81 is configured by a magnetic memory or the like, and may store software that is a program group necessary for radio wave detection processing. The program constituting the radio wave detection processing software may be incorporated in advance in a computer with dedicated hardware, or may be provided in advance in the ROM 802 and the HDD 81.

  In addition to the computer system 108, the program may be acquired from a recording medium in which the program is stored. For example, a disk 85 or a memory card 84 may be appropriately connected to the drive 83, and a computer program read from them may be installed in the HDD 81 as necessary.

  Further, a wireless communication I / F unit 82 may be provided and connected to a network to acquire a program via the network and install it in the HDD 81 as necessary. As a result, the computer system 108 can be controlled by the remote operation by the communication I / F unit 82. Also, a control program, a radio wave detection processing program, etc. may be downloaded.

  The radio wave detection apparatus and radio wave detection method of the present invention can also be applied to remotely operable toys, autonomously movable toys, game machines, personal digital assistants, mobile phones, notebook personal computers, and the like. The same effects as those of Embodiment 1 to Embodiment 7 of the present invention are obtained.

  According to the present invention, it is possible to detect a radio wave emitted from a wireless tapping device or a voyeur attached to an apparatus main body capable of moving a position, which is useful for a radio wave detection device, a radio wave detection method, a robot, and the like.

It is a block diagram which shows the structure of the robot in Embodiment 1 of this invention. It is a flowchart explaining operation | movement of the robot shown in FIG. FIG. 3 is an explanatory diagram illustrating a radio wave state where the illegal radio wave is “none” and a radio wave state where the illegal radio wave is “present” in the first embodiment of the present invention. It is a figure which shows the result of having analyzed the frequency in the radio signal collation part in Embodiment 1 of this invention. It is a block diagram which shows the structure of the robot in Embodiment 2 of this invention. 6 is a flowchart for explaining the operation of the robot shown in FIG. 5. It is a block diagram which shows the structure of the robot in Embodiment 3 of this invention. It is a flowchart explaining operation | movement of the robot shown in FIG. It is explanatory drawing explaining the state when detecting a self-radio wave in Embodiment 3 of this invention. It is explanatory drawing explaining the radio wave state in which the unauthorized radio wave is “none” and the radio wave state in which the illegal radio wave is “present” in the third embodiment of the present invention. It is a figure which shows the result of having analyzed the frequency in the electromagnetic wave signal collation part in Embodiment 3 of this invention. It is a block diagram which shows the structure of the robot in Embodiment 4 of this invention. It is a block diagram which shows the structure of the robot in Embodiment 5 of this invention. It is a block diagram which shows the structure of the robot in Embodiment 6 of this invention. It is explanatory drawing explaining an example of a radio wave intensity map. It is a flowchart for demonstrating the measurement position selection process by the measurement position selection part in Embodiment 6 of this invention. It is a block diagram which shows the structure of the robot in Embodiment 7 of this invention. It is a block diagram which shows the structure of the computer system in Embodiment 8 of this invention.

Explanation of symbols

10, 10a, 30, 30a, 40, 60, 70 Radio wave detection device 11, 13 Antenna 12, 31, 41, 72 Radio wave reception unit 14, 32, 42 Radio wave signal storage unit 15, 33, 43 Radio wave signal verification unit 17 Illegal Radio wave detection unit 18 Map storage unit 19 Measurement position selection unit 20 Initialization setting unit 21 Position setting unit 22 Notification unit 23 Detection result storage unit 24 Actuator 25 Moving unit 26 Display unit 27 Setting unit 28 Stop control unit 29 Transmission / reception unit 34 Position information Detection unit 35 Trigger signal generation unit 36 Luggage detection unit 51 Shield room 71 Inspection sound generation unit 80 Control unit 81 HDD
82 Communication I / F Unit 86 I / F Unit 101-107 Robot 108 Computer System 801 CPU
802 ROM
803 RAM

Claims (14)

A moving part for moving to a plurality of positions;
A radio wave receiver that receives radio waves at a plurality of different positions and detects a plurality of radio signals;
By comparing the detected plurality of radio signals, a radio signal verification unit that detects the presence or absence of radio signals having the same characteristics;
An unauthorized radio wave detection unit that detects that there is an illegal radio wave when there is a radio signal of the same characteristic;
A robot comprising: an informing unit for informing when an unauthorized radio wave is detected. A trigger signal generator for generating a trigger signal at a predetermined time interval;
A position detector that detects a plurality of position information at different timings according to the trigger signal,
The robot according to claim 1, wherein the radio wave receiving unit detects the plurality of radio wave signals based on the plurality of position information. A self-radio signal storage unit for storing the self-radio signal,
The robot according to claim 1 or 2, wherein the radio signal comparison unit compares the plurality of radio signals obtained by removing the self radio signal stored in the self radio signal storage unit. A stop control unit for controlling whether or not to stop the predetermined function;
The robot according to claim 1, wherein the stop control unit stops the predetermined function while the radio wave reception unit detects the plurality of radio wave signals. It further includes an inspection sound generator that generates sound,
The robot according to claim 1, wherein the inspection sound generation unit generates a sound while the radio wave reception unit detects the plurality of radio wave signals. The inspection sound generator generates a singular sound,
The radio signal verification unit demodulates the detected radio signal to detect the presence or absence of a radio signal having the same characteristics as the singular sound,
6. The robot according to claim 5, wherein the unauthorized radio wave detection unit detects that there is an illegal radio wave when there is a radio signal having the same characteristics as the singular sound. A detection result storage unit for storing a detection result of the radio signal of the same characteristic detected by the radio signal verification unit;
A setting unit configured to display the detection result;
The robot according to claim 1, further comprising a display unit that displays the detection result stored in the detection result storage unit based on the setting. A map storage unit for storing a radio wave intensity map representing the radio wave intensity at the position in association with each position in the use space of the robot;
A measurement position selecting unit that selects a measurement position where the intensity of the environmental radio wave is small with reference to the radio wave intensity map;
The robot according to claim 1, wherein the radio wave receiving unit receives radio waves at the measurement position and detects a plurality of radio wave signals. A load detector that detects that a load has been placed on the robot and generates a trigger signal;
A position detector that detects current position information in response to the trigger signal;
The robot according to claim 1, wherein the radio wave receiving unit detects the plurality of radio wave signals based on a plurality of pieces of position information detected by the position detection unit. A moving part for moving to a plurality of positions;
A load detector that detects that a load has been placed on the robot and generates a trigger signal;
A radio wave receiving unit that receives radio waves according to the trigger signal and detects a plurality of radio wave signals;
By comparing the detected plurality of radio signals, a radio signal verification unit that detects the presence or absence of radio signals having the same characteristics;
An unauthorized radio wave detection unit that detects that there is an illegal radio wave when there is a radio signal of the same characteristic;
A robot comprising: an informing unit for informing when an unauthorized radio wave is detected. A radio wave receiver that receives radio waves at a plurality of different positions and detects a plurality of radio signals;
By comparing the detected plurality of radio signals, a radio signal verification unit that detects the presence or absence of radio signals having the same characteristics;
A radio wave detection apparatus comprising: an illegal radio wave detection unit that detects that there is an illegal radio wave when the radio signal has the same characteristic. A trigger signal generator for generating a trigger signal at a predetermined time interval;
A position detector that detects a plurality of position information at different timings according to the trigger signal,
The radio wave detection device according to claim 11, wherein the radio wave reception unit detects the plurality of radio wave signals based on the plurality of position information. A radio wave receiving step for receiving radio waves at a plurality of different positions and detecting a plurality of radio wave signals;
A radio signal comparison step for detecting the presence or absence of radio signals having the same characteristics by comparing the detected radio signals;
A radio wave detection method comprising: detecting an illegal radio wave when the radio signal having the same characteristic is present. By comparing a plurality of radio signals detected at a plurality of different positions, a radio signal verification unit that detects the presence or absence of radio signals with the same characteristics;
A radio wave detection processing program for causing a computer to function as an illegal radio wave detection unit that detects that there is an illegal radio wave when the radio signal has the same characteristic.

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