Wiretapping Surveillance System Using Mobile Robot and Monitoring Method thereof

Abstract

A system for detecting eavesdropping using a mobile robot and a method for detecting eavesdropping are disclosed. The eavesdropping detection system of the present invention collects wireless signals using an antenna installed on a mobile robot traveling within a building, and an eavesdropping detector remotely connected to the mobile robot can detect eavesdropping signals by analyzing them among the wireless signals. Furthermore, the eavesdropping detector according to the present invention can detect eavesdropping signals by utilizing wireless signals provided by a plurality of robots.

Description

Technology Field

[0001] The present invention relates to an eavesdropping detection system in which a driving robot traveling within a building collects wireless signals, an eavesdropping detector tracks and detects eavesdropping signals among the wireless signals collected by the driving robot, and generates a detection alarm. Background Technology

[0002] Eavesdropping refers to the unauthorized acquisition of another person's information; typically, eavesdropping devices record conversations or film scenes and transmit them externally using wireless signals. As methods of eavesdropping are diverse and constantly evolving, detection technology must also evolve accordingly.

[0003] Eavesdropping typically involves wirelessly modulating voice or video signals to create a wireless signal (simply referred to as a "eavesdropping signal"), which is then transmitted wirelessly to an external device. Therefore, eavesdropping detection involves detecting the eavesdropping signals emitted by the eavesdropping device. Since it is impossible to know which frequency band or modulation method the eavesdropping signal uses, and because the signal is not transmitted periodically, detection is extremely difficult as it involves detecting wireless signals whose transmission timing and manner are unpredictable. Generally, eavesdropping detection methods include fixed-type systems installed at a fixed location for long-term monitoring, and portable systems that can be carried by a detector to detect eavesdropping when necessary.

[0004] Meanwhile, various self-driving robots are being developed, utilizing a variety of sensors, including LiDAR. LiDAR sensors are primarily used to scan and recognize surrounding objects using lasers, enabling the robot to navigate without collisions. Even indoors, the use of LiDAR allows for the creation of centimeter-level accurate indoor maps.

[0005] [Related Prior Art]

[0006] 1. Republic of Korea Utility Model Publication No. 20-2023-0000120 (Autonomous robot performing eavesdropping detection function) The problem to be solved

[0007] The objective of the present invention is to provide an eavesdropping detection system and a method thereof, wherein a driving robot traveling within a building collects wireless signals, an eavesdropping detector tracks and detects eavesdropping signals among the wireless signals collected by the driving robot, and generates a detection alarm.

[0008] In addition, the present invention provides an eavesdropping detection system and a method thereof that can generate an estimated location of an eavesdropping device transmitting an eavesdropping signal in three-dimensional coordinates when a driving robot detects an eavesdropping signal while moving. means of solving the problem

[0009] The eavesdropping detection system of the present invention for achieving the above objective comprises a driving robot equipped with a driving unit that moves autonomously on a plane, and an eavesdropping detector connected to the driving robot via a network to detect eavesdropping. The eavesdropping detector can be connected to a plurality of the driving robots via a network, and the plurality of driving robots are distinguished by a robot identification number and can drive in different areas or drive in the same area.

[0010] The driving robot is equipped with a driving drive unit, an antenna unit, a signal receiver unit, and a communication module. The driving drive unit generates driving coordinates using a LiDAR sensor and drives. The antenna unit is equipped with at least one omnidirectional antenna and a plurality of directional antennas tilted at different angles and directed toward different directions, and the signal receiver unit receives wireless signals received through the antenna unit. The communication module transmits the wireless signals received by the signal receiver unit and the driving coordinates generated by the driving drive unit to an eavesdropping detector via a network.

[0011] The eavesdropping detector is equipped with a second communication unit capable of connecting to the above network, detects an eavesdropping signal using a wireless signal provided by the driving robot, and upon detecting the eavesdropping signal, processes the driving coordinates as event coordinates and generates a detection alarm.

[0012] wiretap detector

[0013] According to an embodiment, the eavesdropping detector includes an eavesdropping monitoring unit, a coordinate detection unit, and an alarm generation unit. The eavesdropping monitoring unit detects an eavesdropping signal using a wireless signal provided by the driving robot, and the alarm generation unit generates a detection alarm. The coordinate detection unit receives from the eavesdropping monitoring unit the identification code of the antenna with the highest reception strength of the eavesdropping signal among the plurality of directional antennas, and receives the attitude of the driving robot from the driving drive unit to calculate the directional direction of the antenna with the highest reception strength of the eavesdropping signal. Here, the detection alarm includes the directional direction of the antenna with the highest reception strength of the eavesdropping signal.

[0014] 3D coordinate calculation of the eavesdropping device by the eavesdropping detector

[0015] According to an embodiment, the coordinate detection unit receives and verifies the distance from the event coordinates to surrounding objects from the lidar sensor, and estimates the three-dimensional coordinates of the eavesdropping device using the directional direction of the antenna with the strongest reception strength of the eavesdropping signal and the distance information, and provides them to the alarm generation unit. In this case, the detection alarm includes the estimated three-dimensional coordinates of the eavesdropping device.

[0016] wiretapping tracking

[0017] According to another embodiment, the eavesdropping detector may further include an eavesdropping tracking unit that tracks the eavesdropping device by controlling the driving drive unit to track the direction of the antenna with the strongest reception strength of the eavesdropping signal. In this case, the alarm generating unit periodically generates a new detection alarm during the tracking by using the position of the driving robot as a new event coordinate.

[0018] According to another embodiment, the eavesdropping tracking unit controls the driving drive unit to rotate in place at the event coordinates or rotate during tracking to change the orientation of the antenna unit, thereby detecting the antenna with the strongest reception strength of the eavesdropping signal.

[0019] Eavesdropping detection method of an eavesdropping detection system

[0020] The present invention also extends to a method for detecting eavesdropping in an eavesdropping detection system equipped with a driving robot. The method for detecting eavesdropping in an eavesdropping detection system according to the present invention comprises: a driving mode in which the driving robot drives according to the control of the driving drive unit, collects a wireless signal using an antenna unit installed on the outer surface of the main body, transmits it to an eavesdropping detector, and the eavesdropping detector detects an eavesdropping signal from the wireless signal; and an event mode in which, if the eavesdropping detector detects the eavesdropping signal during the driving mode, the driving drive unit processes the driving coordinates provided by the driving drive unit as event coordinates to generate a detection alarm. Effects of the invention

[0021] The eavesdropping detection system of the present invention collects wireless signals using an antenna installed on a driving robot traveling within a building, and an eavesdropping detector remotely connected to the driving robot can analyze and detect eavesdropping signals among the wireless signals.

[0022] Furthermore, the eavesdropping detector according to the present invention can detect eavesdropping signals simultaneously at multiple locations by utilizing wireless signals provided by multiple robots, and can increase the success rate of eavesdropping detection.

[0023] In addition, the eavesdropping detector of the present invention can obtain the estimated location of an eavesdropping device transmitting an eavesdropping signal as three-dimensional spatial coordinates. After detecting the eavesdropping signal, the eavesdropping detector of the present invention can accurately estimate the location of the eavesdropping device by having a driving robot track the eavesdropping signal. Brief explanation of the drawing

[0024] FIG. 1 is a drawing illustrating an eavesdropping detection system according to an embodiment of the present invention. FIG. 2 is a block diagram of the driving robot of FIG. 1, FIG. 3 is a diagram illustrating a three-dimensional spatial coordinate system for estimating the location of a listening device during event mode, and Figure 4 is a flowchart provided for explaining the eavesdropping monitoring method of the present invention. Specific details for implementing the invention

[0025] The present invention will be described in more detail below with reference to the drawings.

[0026] Referring to FIG. 1, the eavesdropping detection system (100) of the present invention includes at least one driving robot (110, 110b, 110c) and an eavesdropping detector (130) connected to the driving robot (110, 110b, 110c) through a network (150). The present invention is characterized in that the eavesdropping detector (130) can detect an eavesdropping signal at at least one point simultaneously using a wireless signal provided by at least one driving robot (110), and by displaying the location where the eavesdropping signal is transmitted as three-dimensional spatial coordinates, the administrator can easily detect the eavesdropping device (10).

[0027] The driving robot (110, 110b, 110c) is a robot implemented to drive horizontally on a flat floor while scanning its surroundings using a lidar sensor, and various conventionally known driving robots can be used. The driving robot (110, 110b, 110c) can change its posture by moving horizontally or rotating horizontally on the floor.

[0028] In particular, the driving robot (110, 110b, 110c) of the present invention collects wireless signals for eavesdropping detection using an antenna part (115) installed on the outer surface. The driving robot (110, 110b, 110c) may perform other tasks other than the wireless signal collection of the present invention and may include a configuration for such tasks (e.g., cleaning, guidance, etc.).

[0029] When multiple driving robots (110, 110b, 110c) are in operation, each driving robot (110, 110b, 110c) is distinguished by a 'robot identification code'. Each driving robot (110, 110b, 110c) may receive wireless signals in separate areas, or may collect wireless signals while driving in the same detection area. FIG. 1 illustrates an example in which three driving robots (110, 110b, 110c) are connected to an eavesdropping detector (130). The eavesdropping detector (130) analyzes the wireless signals received and provided by the three driving robots (110, 110b, 110c), determines whether there is an eavesdropping signal, and generates a detection alarm. Three driving robots (110, 110b, 110c) are examples configured to receive wireless signals in areas divided into a first zone (zone1), a second zone (zone2), and a third zone (zone3). Since the configuration and operation of multiple driving robots (110, 110b, 110c) are all identical, the driving robot (110) will be described as a representative example below unless otherwise stated.

[0030] The eavesdropping detector (130) communicates with at least one driving robot (110, 110b, 110c) and analyzes the wireless signal received and provided by the driving robot (110, 110b, 110c) to determine if there is an eavesdropping signal and generates a detection alarm. The eavesdropping detector (130) can monitor multiple zones simultaneously or monitor a single zone simultaneously from multiple points. The eavesdropping detector (130) can display the detection alarm on its own display unit (not shown) or provide it to a control server (not shown).

[0031] When the eavesdropping detector (130) detects an eavesdropping signal, it may control the corresponding driving robot to track the eavesdropping device (10) that is transmitting the eavesdropping signal.

[0032] The operating modes of the eavesdropping detection system (100) of the present invention include a 'driving mode' and an 'event mode'. The driving mode is an operating mode before detecting an eavesdropping signal, and the event mode is a mode for performing subsequent operations after detecting an eavesdropping signal. Below, the detailed configuration of the driving robot (110) and the eavesdropping detector (130) will be explained with reference to FIG. 2.

[0033] Configuration of the mobile robot (Fig. 2)

[0034] Referring to FIG. 2, the driving robot (110) includes a first communication module (211), a LiDAR sensor (111), a driving drive unit (113), an antenna unit (115), and a signal receiving unit (213).

[0035] The first communication module (211) is a wireless communication interface capable of connecting to a network (150), and various conventionally known wireless methods such as wireless LAN, Bluetooth, Zigbee, and 4G / 5G mobile communication can be used. Since a robot identification code is attached to the data transmitted by the first communication module (211) through the network (150), it can be distinguished among multiple driving robots. The first communication module (211) provides data provided by the signal receiving unit (213) and the driving driving unit (113) to the eavesdropping detector (130) through the network (150) and receives data provided by the eavesdropping detector (130). In the following, even if it is described as if the signal receiving unit (213) or the driving driving unit (113) directly provides information or data to the eavesdropping detector (130), it should be understood that it is transmitted through the first communication module (211).

[0036] Meanwhile, according to an embodiment, the driving robot (110) may be equipped with two communication modules according to different protocols for transmitting signals from the signal receiving unit (213) and the driving driving unit (113), respectively. For example, the first communication module (211) may transmit data provided by the signal receiving unit (213) to the eavesdropping detector (130), and another third communication module (not shown) may transmit data provided by the driving driving unit (113) to the eavesdropping detector (130). In this case, the eavesdropping detector (130) is equipped with two communication modules capable of communicating individually with the first communication module (211) and the third communication module (not shown).

[0037] The LiDAR sensor (111) is a sensor used to measure the distance to surrounding objects using a laser, and is provided on the upper outer surface of the main body (117) to scan the surroundings in 360° and generate scanned information (distance information), which is then provided to the driving unit (113). When entering event mode, the driving robot (110) is in a state where it is located at the 'event coordinates.' At this time, the driving unit (113) checks the distance information to objects located in each direction through the LiDAR sensor (111) and provides it to the eavesdropping detector (130), thereby enabling the estimation of the three-dimensional coordinates of the eavesdropping device (10). Here, the event coordinates are the location of the driving robot (110) in a state of detecting an eavesdropping signal; in other words, they are the driving coordinates of the driving robot (110) related to the detection alarm. The location at the moment the eavesdropping signal is detected becomes the event coordinates, and as the driving robot (110) continues to track the eavesdropping device (10) thereafter, the event coordinates may also continue to change.

[0038] The driving drive unit (113) is equipped with a driving means to move the driving robot (110) horizontally. During the driving mode, the driving drive unit (113) creates a driving path according to its own driving algorithm and drives. The driving algorithm may be an autonomous driving algorithm or other driving algorithms. For example, the driving drive unit (113) can create a driving path that does not collide with objects in front by using a 'Simultaneous Localization and Mapping (SLAM)' algorithm based on information provided by the LiDAR sensor (111). The SLAM algorithm is an algorithm that sets a model of the surrounding environment and estimates its own posture while moving using various sensors, and a previously known algorithm can be used. In the driving path on a two-dimensional planar coordinate system, the driving drive unit (113) can calculate the 'driving coordinates,' which are the current coordinates of the driving robot (110). The driving coordinates are coordinates on a two-dimensional planar coordinate system, and the two-dimensional planar coordinate system is a coordinate system virtually mapped to a flat floor (or plane) on which the driving robot (110) drives. The driving drive unit (113) calculates the driving coordinates of the driving robot (110) and provides them to the eavesdropping detector (130) periodically or non-periodically.

[0039] During the event mode, the driving drive unit (113) moves along the tracking path provided by the eavesdropping tracking unit (245) of the eavesdropping detector (130) to precisely track the eavesdropping signal during the event mode.

[0040] The configuration or operation of the hardware and software of the driving drive unit (113) can be used as is, as previously known. FIG. 1 illustrates a driving robot (110) having a cylindrical body (117), and the driving drive unit (113) is provided at the lower part of the body (117). The driving means may be a combination of, for example, a wheel (113a) and a driving motor (not shown).

[0041] The antenna section (115) is equipped with at least one omnidirectional antenna that receives an eavesdropping signal and a plurality of directional antennas that are oriented in different directions, and is installed on the outer surface of the main body (117). When there is a wireless signal transmitted by the eavesdropping device (10), at least one of the omnidirectional antenna and the plurality of directional antennas can receive it simultaneously.

[0042] In FIG. 1, one omnidirectional antenna (115a) is provided on the upper surface of the driving robot (110), and four directional antennas (115b, 115c, 115d, 115e) are arranged to face in different directions (different angles). For example, FIG. 1 shows that the first antenna (115b) is arranged to face in a direction parallel to the plane, and the second antenna (115c) and the third antenna (115d) are arranged to face 30° upward and 30° downward relative to the first antenna (115b). The fourth antenna (115e) is arranged to face 60° upward relative to the first antenna (115b). The directional antennas (115b, 115c, 115d, 115e) are examples of being placed on a virtual plane perpendicular to the floor, but the number of directional antennas and their installation directions can be implemented in various ways.

[0043] The signal receiving unit (213) collects analog wireless signals by antenna using the antenna unit (115) and performs signal processing to transmit them to the eavesdropping detector (130). As a signal processing method, the signal receiving unit (213) may use a digital method in which the analog wireless signal is quantized and converted into a digital signal, and then transmitted to the eavesdropping detector (130) along with the identification code of the corresponding antenna. The digital method, which facilitates signal classification, is convenient for the eavesdropping detector (130) to distinguish and process signals provided by multiple driving robots (110). Meanwhile, the signal receiving unit (213) may process the signal in an analog method in which the received wireless signal by antenna is transmitted to the eavesdropping detector (130) by antenna as is, or it may use both analog and digital methods. The signal receiving unit (213) may basically perform noise removal, amplification, band filtering, etc. on the received wireless signal.

[0044] Configuration of the eavesdropping detector (Fig. 2)

[0045] The eavesdropping detector (210) includes a second communication module (231), an eavesdropping monitoring unit (233), and a control unit (240) to detect eavesdropping signals and generate a detection alarm. The eavesdropping signal is a wireless signal transmitted by the eavesdropping device (10) among wireless signals and is the target of detection by the eavesdropping detector (130). The eavesdropping device (10) acquires voice generated within the space using a microphone to create a voice signal or captures a scene with a camera to create a video signal, and transmits the eavesdropping signal through wireless modulation.

[0046] The second communication module (231) is a wired or wireless communication interface that can be connected to the network (150). Various conventionally known wireless methods such as wireless LAN, Bluetooth, Zigbee, and 4G / 5G mobile communication can be used as wireless interfaces, and if the network (150) provides heterogeneous communication, a wired interface such as a wired LAN can also be used. The second communication module (231) provides data provided by the eavesdropping monitoring unit (233) and the control unit (240) to the driving robot (110) through the network (150) and receives data provided by the driving robot (110). The data provided by the driving robot (110) to the eavesdropping detector (130) includes a wireless signal (or the data) provided by the signal receiving unit (213), driving coordinates, attitude information, and distance information provided by the driving driving unit (113), and is identified by a robot identification number. The data provided by the eavesdropping detector (130) to the driving robot (110) includes the operating mode, tracking path, etc.

[0047] In the following, even if it is described as if the eavesdropping monitoring unit (233) or the control unit (240) directly provides control commands or data to the driving robot (110), it should be understood that they are transmitted through the second communication module (231).

[0048] The eavesdropping monitoring unit (233) determines whether there is an eavesdropping signal among the wireless signals collected and provided by the driving robot (110), and if there is an eavesdropping signal, it generates 'detection information' and provides it to the control unit (240). The method by which the eavesdropping monitoring unit (233) detects an eavesdropping signal may use the conventionally known eavesdropping signal detection method. If there is a wireless signal whose received signal strength is greater than or equal to a preset signal strength, the eavesdropping monitoring unit (233) can determine that it is an eavesdropping signal.

[0049] The eavesdropping monitoring unit (233) determines whether there is an eavesdropping signal among the signals received by at least one of the omnidirectional antenna (115a) and four directional antennas (115b, 115c, 115d, 115e), and if an eavesdropping signal is acquired, transmits detection information of the eavesdropping signal (e.g., frequency, received signal strength RSSI, etc.) to the control unit (240). In addition, the eavesdropping monitoring unit (233) provides information about the antenna with the highest received strength among the plurality of directional antennas (115b, 115c, 115d, 115e) (or direction information of that antenna) to the coordinate detection unit (243) of the control unit (240), thereby enabling the calculation of the estimated value of the three-dimensional coordinates of the eavesdropping device (10).

[0050] The control unit (240) controls the overall operation related to eavesdropping detection of the eavesdropping detector (130) of the present invention. Specifically, the control unit (240) includes an alarm generation unit (241), a coordinate detection unit (243), and an eavesdropping tracking unit (245) to control an 'event mode' based on the detection of an eavesdropping signal and to generate a detection alarm.

[0051] The alarm generation unit (241) changes the driving mode to 'event mode' and generates a detection alarm when the eavesdropping monitoring unit (233) detects eavesdropping during the driving mode. The detection alarm includes 'eavesdropping location information' and may also include detection information of the detected eavesdropping signal (e.g., frequency, received signal strength RSSI, etc.), detection time, etc.

[0052] The eavesdropping detection of the present invention is determined by acquiring a wireless signal, and since the location where the driving robot (110) receives the wireless signal is not the location of the eavesdropping device (10), it is difficult to confirm the exact location of the eavesdropping device (10). However, the eavesdropping detection system can estimate a location as close as possible to the eavesdropping device (10). Therefore, in the present invention, the 'eavesdropping location' included in the detection alarm can be defined and used in various embodiments. For example, ① event coordinates may be used as the 'eavesdropping location', or ② event coordinates and the direction information of the directional antenna may be used as the 'eavesdropping location'. The event coordinates are the driving coordinates of the driving robot (110) when the eavesdropping signal is detected. The event coordinates are the driving coordinates of the driving robot (110) when the eavesdropping signal is collected, and the driving coordinates are provided by the driving drive unit (113). The direction information of the directional antenna is calculated and provided by the coordinate detection unit (243).

[0053] Alternatively, the three-dimensional spatial coordinates of ③ the eavesdropping device (10) can be used as the 'eavesdropping location'. The three-dimensional spatial coordinates are calculated by the coordinate detection unit (243).

[0054] The coordinate detection unit (243) assumes a three-dimensional spatial coordinate system designed based on the two-dimensional spatial coordinate system calculated and used by the driving drive unit (113), and generates three-dimensional spatial coordinates of the location estimated to be the position of the eavesdropping device (10) in the three-dimensional spatial coordinate system. The coordinate detection unit (243) calculates the 'directional information of the directional antenna' included in the detection alarm in the virtual three-dimensional coordinate system, or calculates the three-dimensional coordinates of the position of the eavesdropping device (10). The method by which the coordinate detection unit (243) calculates the three-dimensional spatial coordinates is explained again below.

[0055] The eavesdropping tracking unit (245) controls the driving of the driving drive unit (113) by generating an eavesdropping device tracking path using the detection results provided by the eavesdropping monitoring unit (233) during the event mode. Naturally, the tracking path is intended to enable the eavesdropping monitoring unit (233) to detect eavesdropping signals of a more accurate or greater reception strength.

[0056] For example, the eavesdropping tracking unit (245) can control the driving robot (110) to rotate 360° in place or rotate by a set angle at the location where the eavesdropping signal is detected. The reception strength of the eavesdropping signal is greatest when the directional antennas (115b, 115c, 115d, 115e) are directed toward the eavesdropping device (10). As the driving robot (110) changes its posture by rotating 360° in place or rotating by a set angle, the location of the eavesdropping device (10) can be determined. The eavesdropping tracking unit (245) can identify the direction in which the reception strength of the eavesdropping signal is strongest through the directional antennas (115b, 115c, 115d, 115e) provided by the eavesdropping monitoring unit (233) and set a tracking path in that direction. The eavesdropping tracking unit (245) can periodically rotate in place to reconfirm the direction of the eavesdropping device (10) and modify the tracking path. During movement, if the lidar sensor (111) detects a front wall, tracking can be terminated.

[0057] As a more complex tracking method, the wiretapping tracking unit (245) can utilize an artificial intelligence algorithm based on a two-dimensional coordinate system possessed by the coordinate detection unit (243).

[0058] 3D coordinates of eavesdropping detection (Fig. 3)

[0059] The coordinate detection unit (243) calculates the 'directional information of the directional antenna' included in the detection alarm in a virtual three-dimensional coordinate system, or calculates the three-dimensional coordinates of the location of the eavesdropping device (10).

[0060] The three-dimensional coordinate system used by the driving robot (110) is based on the coordinate system generated by the driving drive unit (113) through detection by the lidar sensor (111). The three-dimensional coordinate system may be (1) configured as an xyz plane based on the current position of the driving robot (110), or (2) configured as an xyz plane based on a virtual origin. It is possible to switch between (1) and (2) through mathematical calculation. FIG. 3 shows a three-dimensional coordinate system based on a virtual origin (O) of the space in which the driving robot (110) is driving. When multiple driving robots (110, 110b, 110c) are in operation, each driving robot (110, 110b, 110c) may use the same three-dimensional coordinate system based on a common origin, or may use different three-dimensional coordinate systems with different origins.

[0061] Directional Information of a Directional Antenna

[0062] In order to obtain directional information of the directional antenna, the driving driving unit (113) provides the driving posture of the driving robot (110) to the eavesdropping detector (130), and the eavesdropping monitoring unit (233) identifies the antenna with the strongest received signal strength among the plurality of directional antennas (115b, 115c, 115d, 115e) and provides the identification code of that antenna to the coordinate detection unit (243). The driving posture of the driving robot (110) can be calculated by the driving coordinates, but can be changed by moving or rotating according to the control of the eavesdropping tracking unit (245) as described below.

[0063] The coordinate detection unit (243) can map the directional direction of a plurality of directional antennas (115b, 115c, 115d, 115e) of the antenna unit (115) to a vector (T1, T2, T3, T4) in a 2D planar coordinate system or a 3D spatial coordinate system based on the driving coordinates and driving posture provided by the driving drive unit (113). Since the directional antennas (115b, 115c, 115d, 115e) are installed with fixed positions, the directional direction vector can be calculated using the driving direction and driving coordinates of the driving robot (110) and the posture of the driving robot (110).

[0064] Since the directional direction of the directional antenna can be calculated using the attitude of the driving robot (110) at the event coordinates based on a two-dimensional planar coordinate system, the coordinate detection unit (243) can calculate the attitude or directional direction of the directional antennas (115b, 115c, 115d, 115e) at the event coordinates. Referring to FIG. 3, the event coordinates (H1) are displayed in space in a three-dimensional spatial coordinate system. An eavesdropping signal is detected when the event coordinates (H1) are driving coordinates. H2 is the origin of the vectors (T1, T2, T3, T4) indicating the directional direction of the directional antennas (115b, 115c, 115d, 115e), and is an example shown with only the z-axis changed from the event coordinates (H1). Vector T5 is a vector obtained by orthogonally projecting the direction vector of the directional antenna onto a two-dimensional plane (xy plane). Since the directional antennas (115b, 115c, 115d, 115e) of FIG. 1 are located on a virtual plane perpendicular to a two-dimensional plane, the orthogonal projection vector of the vectors (T1, T2, T3, T4) is the same as T5. Since the attitude of the driving robot (110) in the current coordinates changes only by horizontal rotation on the floor, when the attitude changes, the directional antennas (115b, 115c, 115d, 115e) rotate horizontally on the xy plane and their directional direction changes.

[0065] If the reception strength of the eavesdropping signal received in the posture shown in Fig. 3 is greatest according to rotation in place at the current event coordinate (H1), the coordinate detection unit (243) can calculate the direction information of the eavesdropping device (10a) on a two-dimensional plane from the posture of the driving robot (110) or the antenna with the greatest reception strength of the eavesdropping signal (or by calculating vector T5) and provide it to the alarm generation unit (241).

[0066] If multiple directional antennas are not located on the same vertical plane, the orthogonal projection vectors of the vectors (T1, T2, T3, T4) are different. Therefore, the coordinate detection unit (243) can calculate the orthogonal projection vector of the vector with the largest received signal using the identification code of the antenna with the largest eavesdropping signal reception strength and the attitude of the driving robot (110), and provide the direction information to the alarm generation unit (241).

[0067] 3D Coordinates of the Eavesdropping Device

[0068] Meanwhile, the driving drive unit (113) Distance information from the event coordinates to surrounding objects can be calculated using the scan information of the lidar sensor (111) and provided to the eavesdropping detector (130). The coordinate detection unit (243) can calculate the three-dimensional coordinates of the estimated location of the eavesdropping device (10) using the directional direction (or directional direction vector) of the directional antenna and distance information to an object (e.g., a wall). Here, the lidar sensor (111) scans the entire 360° or constant angle range, but the distance information (d) refers to the distance information (d) to an object measured based on the projection vector (T5) of the antenna directional direction where the eavesdropping signal reception strength is greatest.

[0069] The coordinate detection unit (243) calculates the three-dimensional coordinates of the eavesdropping device using the directional direction of the directional antenna and distance information based on the event coordinates. In FIG. 3, assuming the eavesdropping device (10) is attached to a wall (w), the three-dimensional coordinates of the estimated location (10a) of the eavesdropping device can be calculated using the distance information (d) to the wall (w) measured by the lidar sensor (111) and the vector T2 calculated using the attitude information of the second antenna (115c) with the strongest eavesdropping signal reception strength.

[0070] The eavesdropping tracking unit (245) can continuously update the 3D coordinates by using the detection results of the eavesdropping monitoring unit (233) and the distance information of the lidar sensor (111) that are updated while tracking the eavesdropping device (10) by creating a tracking path to make the driving robot (110) rotate in place at the event coordinates.

[0071] Eavesdropping surveillance method using a mobile robot (Fig. 4)

[0072] Hereinafter, with reference to FIG. 4, a method for detecting eavesdropping by a driving robot (110) will be explained.

[0073] Driving Robot Driving and Wireless Signal Detection: S401, S403

[0074] When the eavesdropping detector (130) establishes communication with the driving robot (110), it initiates a driving mode according to certain conditions.

[0075] During the driving mode of the driving robot, the driving drive unit (113) drives the driving robot (110) and generates driving coordinates, and the signal receiving unit (213) collects wireless signals using the antenna unit (115) and converts them into digital signals, and the driving drive unit (113) and the signal receiving unit (213) provide the driving coordinates and the digital signals to the eavesdropping detector (130) through the first communication module (211).

[0076] During the driving mode of the eavesdropping detector, the eavesdropping monitoring unit (233) of the eavesdropping detector (130) decodes the wireless signal provided by the driving robot (110) through the second communication module (231), and then determines whether there is an eavesdropping signal among the wireless signals received through the antenna unit (115) that is a wireless signal with a reception strength greater than or equal to a preset value. The eavesdropping detector (130) can receive wireless signals from multiple driving robots (110), and the wireless signal provided by each driving robot (110) can be identified as it is converted into a digital signal and provided together with a robot identification code.

[0077] <Enter Event Mode, Detection Alert Generated: S405, S407>

[0078] In step S403, when the eavesdropping monitoring unit (233) detects an eavesdropping signal, it provides the detection information to the alarm generation unit (241), and the alarm generation unit (241) changes the driving mode to an event mode.

[0079] The alarm generation unit (241) processes the driving coordinates provided along with the wireless signal that detected the eavesdropping signal into event coordinates and generates a first eavesdropping signal detection alarm. The alarm generation unit (241) displays the first eavesdropping signal detection alarm on its own display unit (not shown) or provides it to an external server (not shown).

[0080] Tracking Driving of a Driving Robot: S409

[0081] The eavesdropping tracking unit (245) calculates the tracking path and controls the driving drive unit (113), and the driving drive unit (113) starts the tracking drive of the driving robot (110). The tracking path may simply be the direction in which the wireless signal reception strength is greatest at the current event coordinates.

[0082] To confirm the location of the eavesdropping, the eavesdropping tracking unit (245) can control the driving drive unit (113) so that the driving robot (110) rotates in place at regular intervals after the starting point of the tracking drive, and can control the driving drive unit (113) so that it rotates at a constant rotational speed while tracking drive.

[0083] <Check wiretapping location: S411>

[0084] According to the tracking drive, the coordinate detection unit (243) repeatedly checks the location of the eavesdropping and provides it to the alarm generation unit (241). First, the coordinate detection unit (243) processes the current coordinates of the driving robot (110) as event coordinates, receives the identification code of the antenna with the strongest eavesdropping signal reception strength from the eavesdropping monitoring unit (233), and receives the attitude and distance information (d) of the driving robot (110) from the driving drive unit (113). Based on FIG. 3, the coordinate detection unit (243) calculates the three-dimensional coordinates of the estimated location (10a) of the eavesdropping device (10) and provides them to the alarm generation unit (241).

[0085] <Detection Alert Established: S413>

[0086] When the alarm generation unit (241) receives the eavesdropping location from the coordinate detection unit (243) through step S411, it can generate a new eavesdropping signal detection alarm. Likewise, the alarm generation unit (241) displays the detection alarm on its own display unit (not shown) or provides the detection alarm to an external server (not shown).

[0087] <Event Mode Termination: S415, S417>

[0088] After generating a detection alarm, the alarm generation unit (241) determines whether the termination condition of the event mode is completed, and if the termination condition is completed, terminates the event mode. For example, the termination condition of the event mode may be set such that the strength of the eavesdropping signal reception is greater than or equal to a preset value, or it may be set such that the strength of the eavesdropping signal reception is greater than or equal to a preset value and the distance value provided by the lidar sensor (111) is less than or equal to a preset value.

[0089] <During Event Mode, Repeated Verification of Eavesdropping Location: S411>

[0090] If the termination condition of the event mode is not met, the alarm generation unit (241) may return to step S409 and repeat steps S409 through S415. As the tracking drive of S409 continues, if the relative position between the eavesdropping device (10) and the driving robot (110) changes, the antenna with the strongest eavesdropping signal reception strength may change, and the distance information measured by the lidar sensor (111) may also change. The coordinate detection unit (243) periodically calculates new 3D coordinates based on the changed antenna information and distance information and provides them to the alarm generation unit (241), and the alarm generation unit (241) generates a new detection alarm and updates the position of the eavesdropping device (10).

[0091] The method of monitoring eavesdropping by the eavesdropping detection system (100) of the present invention is performed in the above manner.

[0092] Although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the invention as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present invention.

Claims

Claim 1 A driving drive unit that drives using a lidar sensor and generates driving coordinates of the current driving position; an antenna unit equipped with at least one omnidirectional antenna and a plurality of directional antennas tilted at different angles and directed toward different directions; and a signal receiving unit that receives a wireless signal through the antenna unit at a driving coordinate position and converts the wireless signal into a digital signal. A driving robot comprising a first communication module that transmits data including driving coordinates generated by the driving drive unit and a digital signal converted by the signal receiving unit at the driving coordinate location to a listening detector via a network; and a listening detector comprising a second communication module capable of connecting to the network, which analyzes whether there is a listening signal in the digital signal provided by the driving robot and generates a detection alarm when the listening signal is detected, wherein the listening detector comprises: a listening monitoring unit that detects the listening signal using a wireless signal received through the second communication module; a coordinate detection unit that receives from the listening monitoring unit the identification code of the antenna with the highest receiving strength of the listening signal among the plurality of directional antennas and receives the attitude of the driving robot from the driving drive unit to calculate the directional direction of the antenna with the highest receiving strength of the listening signal; and an alarm generation unit that generates the detection alarm. The eavesdropping detection system comprises an eavesdropping tracking unit that tracks an eavesdropping device by controlling the driving driving unit to track the direction of the antenna with the strongest reception strength of the eavesdropping signal, and the alarm generating unit periodically generates a new detection alarm during the tracking by setting the position of the driving robot as a new event coordinate, wherein the detection alarm includes the event coordinate, information of the eavesdropping signal, detection time, and the direction of the antenna with the strongest reception strength of the eavesdropping signal, and wherein the event coordinate is the driving coordinate of the location where the eavesdropping signal is detected. Claim 2 delete Claim 3 A wiretapping detection system according to claim 1, wherein the coordinate detection unit receives and verifies the distance from the event coordinates to surrounding objects from the driving drive unit, estimates the three-dimensional coordinates of the wiretapping device using the directional direction and distance information of the antenna with the greatest reception strength of the wiretapping signal, and provides them to the alarm generation unit, and the detection alarm includes the estimated three-dimensional coordinates of the wiretapping device. Claim 4 delete Claim 5 A wiretapping detection system according to claim 1, wherein the wiretapping tracking unit controls the driving drive unit to rotate in place at the event coordinates or rotate during tracking to change the directional direction of the antenna unit, thereby detecting the antenna with the strongest reception strength of the wiretapping signal. Claim 6 A wiretapping detection system according to claim 1, wherein the wiretapping detector is connected to a plurality of driving robots through the network, and the plurality of driving robots are distinguished by a robot identification number and drive in different areas or drive in the same area. Claim 7 A method for detecting eavesdropping in an eavesdropping detection system equipped with a driving robot that moves autonomously on a plane by means of a driving drive unit, comprising: a step in which the driving robot is connected to an eavesdropping detector via a network; a driving mode in which, while the driving robot is driving using a LiDAR sensor, a signal receiving unit of the driving robot receives a wireless signal using an antenna unit installed on the outer surface of a main body and converts it into a digital signal, and a first communication module of the driving robot transmits it to the eavesdropping detector, and the eavesdropping detector detects an eavesdropping signal from the digital signal. The antenna unit includes at least one omnidirectional antenna and a plurality of directional antennas tilted at different angles and directed toward different directional directions. and includes an event mode that generates a detection alarm when the eavesdropping detector detects the eavesdropping signal during a driving mode, wherein the event mode comprises the steps of: a coordinate detection unit of the eavesdropping detector receiving from the eavesdropping monitoring unit the identification code of the antenna with the highest reception strength of the eavesdropping signal among the plurality of directional antennas, and receiving the attitude of the driving robot from the driving drive unit to calculate the directional direction of the antenna with the highest reception strength of the eavesdropping signal; and a step of the eavesdropping tracking unit of the eavesdropping detector controlling the driving drive unit to track the eavesdropping device in the directional direction of the antenna with the highest reception strength of the eavesdropping signal. A method for detecting eavesdropping in an eavesdropping detection system, characterized in that the alarm generation unit of the above-mentioned eavesdropping detector includes the step of periodically generating a new detection alarm during the tracking by setting the position of the driving robot as a new event coordinate, wherein the detection alarm includes the event coordinate, information of the eavesdropping signal, the detection time, and the directional direction of the antenna with the greatest reception strength of the eavesdropping signal, and the event coordinate is the driving coordinate of the position where the eavesdropping signal is detected. Claim 8 delete Claim 9 A method for detecting eavesdropping in an eavesdropping detection system according to claim 7, wherein, during the event mode, the coordinate detection unit receives and verifies the distance from the event coordinates to surrounding objects from the driving drive unit, estimates the three-dimensional coordinates of the eavesdropping device using the directional direction and distance information of the antenna with the greatest reception strength of the eavesdropping signal, and provides them to the alarm generation unit, and the detection alarm includes the estimated three-dimensional coordinates of the eavesdropping device. Claim 10 delete Claim 11 A method for detecting eavesdropping in an eavesdropping detection system according to claim 7, wherein the eavesdropping tracking unit controls the driving drive unit to rotate in place at the event coordinates or rotate during tracking to change the directional direction of the antenna unit, thereby detecting the antenna with the greatest reception strength of the eavesdropping signal. Claim 12 A method for detecting eavesdropping in an eavesdropping detection system according to claim 7, wherein the eavesdropping detector is connected to a plurality of driving robots through the network, and the plurality of driving robots are distinguished by a robot identification number and drive in different areas or drive in the same area.

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