| 摘要 |
PROBLEM TO BE SOLVED: To provide an intrusion detection device, a robot, an intrusion detection method, and an intrusion detection program by which exceptions of warning and stop to intrusion into an intrusion monitoring area can be easily provided.SOLUTION: An intrusion detection device comprises: an emission unit that forms a plurality of emission marks arranged on a boundary of an intrusion monitoring area; an imaging device that photographs an area including the plurality of emission marks, and outputs the photographed image; and a detection unit that detects a predetermined mark different from the emission marks from the output image, sets a masking area in the image on the basis of the detected mark, and detects the presence of an intrusion object into the intrusion monitoring area on the basis of the image outside the masking area. |
