JP2004126801A - Transport robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize a transport robot which can avoid collisions and continue pursuing when it changes its direction, even if there is an obstacle on its side. <P>SOLUTION: The transport robot recognizes and pursues a transporter while keeping a prescribed distance. In addition, the transport robot is provided with a detecting means, which is installed in the transport robot and detects the transporter and the obstacle existing in the surroundings, a travelling means, and a travelling control means which controls the traveling means. The detecting means determines a distance for detecting the obstacle according to an angle at which the transport robot rotates, according to the movement of the transporter. The travelling control part stops the transport robot, which is going to rotate, from rotating when the detecting means detects the obstacle. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an important object transport system for safely transporting important items such as cash, securities, medicines, and the like, and more particularly, to an important item transport robot that supports a person in charge of transport.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, cash and the like have been transported in a duralumin case or bag while being escorted by two or more guards. During transportation, the risk of being attacked by a pirate is highest during transportation of an open space from a cash transport vehicle to a store such as a financial institution. In other words, since the cash transport vehicle is parked on the parking lot or on the road, it is possible for the general public to approach the duralumin case or bag until the inside of the bank of the financial institution, which is extremely dangerous. .
Japanese Patent Application Laid-Open No. 8-150936 proposes a cash transport system that is difficult to rob, cannot be easily carried even if robbed, and can be easily detected even in an accident. This conventional cash transport system is designed to avoid threats from robbery during transportation, for example, by making the weight of a container for storing cash so small that it cannot be carried by a small number of people, and by using a structure in which cash can be loaded and unloaded in a building. (Patent Document 1).
[0003]
[Patent Document] Japanese Patent Application Laid-Open No. 8-150936
[Problems to be solved by the invention]
However, the conventional cash storage container has a structure that makes it difficult for a small number of people to carry the cash storage container, and also requires a great deal of labor to transport the cash storage container of a security guard. For this reason, a large number of people are required during transportation, and attention to surroundings during work is distracted, so that there is a problem that danger cannot be avoided efficiently.
In general, it is difficult to allow a cash transport vehicle to enter the inside of a building at all stores of a financial institution, and the use of such a cash storage container is considerably limited. For this reason, if a cash transport vehicle cannot be put inside, the transport work from the parking lot or road to the inside of the financial institution's store requires a long time, which may increase the risk. is there.
Therefore, it is conceivable to use a transfer robot that can automatically recognize and track security guards so that guards can safely transport important objects while keeping close watch on their surroundings. Had the following problems.
That is, the transport robot recognizes the transporter with a distance measuring sensor or the like and performs tracking travel. However, when the transporter changes course, the transport robot changes the traveling direction to follow the transporter. If the body of the transfer robot is rectangular, there is a possibility that the robot may collide with an obstacle on the side due to a change in direction or a turning operation.
Therefore, an object of the present invention is to realize a transfer robot that can prevent a collision even if there is an obstacle on a side face and can continue tracking when the transfer robot changes direction.
[0005]
[Means for Solving the Problems]
In order to solve such a problem, the present invention relates to a transfer robot that recognizes a carrier and tracks the carrier while maintaining a predetermined distance, and detects a carrier provided in the carrier robot and a surrounding obstacle and the like. Means, traveling means, comprising traveling control means for controlling the traveling means, wherein the detecting means determines a distance for detecting an obstacle in accordance with an angle at which the transport robot tries to turn according to the movement of the carrier, The traveling control unit provides a transport robot that stops turning when the detection unit detects an obstacle when trying to turn.
Preferably, the traveling control means provides a transport robot that stops the turning operation, advances forward by a predetermined distance, and resumes the tracking operation of the tracking target object again.
With such a configuration, the carrier can be automatically tracked and traveled without colliding with a nearby obstacle.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
An example in which the transport robot according to the present invention is used in a cash transport system will be described. FIG. 1 is a configuration diagram of the cash transport system. The cash transport system is a system for collecting and delivering necessary items such as cash, securities, and various receivables from a head office 6 of a financial institution to a plurality of branches 7. The cash transport system includes a security guard 2 in charge of transporting important items and a transport robot 1 for storing and transporting important items.
The security guard 2 wears security clothing incorporating the regression reflector 22 so that the transport robot 1 can easily track the security guard 2, and a remote control 21 (b) for issuing various instructions to the transport robot 1. Have. FIG. 2 shows the appearance of the security guard 2 (a) when wearing uniforms and the remote controller 21. A retroreflective material 22 is woven into the uniform of the security guard 2, and recursively reflects illumination light emitted from the imaging unit 16 described later. For this reason, in the image photographed when the photographing unit 16 emits the illumination, the retroreflective material has high luminance. Further, the remote controller 21 includes a liquid crystal display unit 211 and an operation unit 212 for transmitting various signals, and the guard 2 gives an instruction to the transfer robot 1 to display a state of the transfer robot 1.
On the other hand, the transport robot 1 includes a traveling unit 18 that climbs / descends stairs and travels on a flat road, and has an important object storage 15 for storing important items. In addition, the transport robot 1 travels while independently tracking the security guard 2 by applying a ranging sensor technology or an image processing technology. Note that the transport robot 1 uses a stair-type slope from the luggage compartment of the cash transport vehicle 3 to the ground for climbing / descending to the cash transport vehicle 3.
[0007]
Next, a schematic operation of the cash transport system will be described. First, at the head office 6 of the financial institution, the guard 2 stores cash and the like to be conveyed to each branch 7 in the important item storage 18. The guard 2 operates the remote controller 21 to set the transport robot 1 to the tracking mode. In this tracking mode, the transport robot 1 tracks behind the security guard 2 while keeping a distance of about 1 m from the security guard 2. The security guard 2 guides the transfer robot 1 to the front of the slope 31 of the cash transport vehicle 3 and operates the remote controller 21 to end the tracking mode of the transfer robot 1 and set the standby mode. Then, the guard 2 operates the remote controller 21 to put the transport robot 1 on the cash transport vehicle 3 and is set to the standby mode upon completion of the ride.
Thereafter, the security guard 2 drives the cash transport vehicle 3 from the head office 6 and moves to the parking lot of the branch 7 of the financial institution. In the parking lot of the branch 7, the guard 2 operates the remote controller 21 to drop the transfer robot 1 from the cash transport vehicle 3. When the getting off is completed, the guard 2 operates the remote controller 21 to set the transport robot 1 to the tracking mode. The security guard 2 proceeds into the branch 7 from the branch 7 parking lot. The guard 2 does not need to have cash or the like by himself, so he enters the branch 7 while performing sufficient vigilance against the surroundings, such as the danger of robbery. The transport robot 1 enters the branch 7 while carrying the cash or the like and tracking the security guard 2. At a safe place in the branch 7, the guard 2 operates the remote controller 21 to set the transport robot 1 to the standby mode. The guard 2 transmits a storage control signal to the transfer robot 1 from the remote controller 21. When receiving the voice input after receiving the storage control signal, the transfer robot 1 checks whether the voice is a voice of a person who has authority to control the important object storage 15 or not. Here, if it is the voice of the authorized person, the door of the important object storage 15 is opened. Here, the authorized person may be the security guard 2 who is in charge of the transportation, or may be the person in charge of each branch 7. The security guard 2 takes out cash or the like for the purpose of delivery from the opened important object storage 15 and delivers it to the person in charge of the branch 7. The collected cash is stored in the important item storage 15. When the storage is completed, the remote controller 21 is operated again to close and lock the important object storage 15 of the transfer robot 1.
Again, the guard 2 sets the transport robot 1 in the tracking mode and heads for the parking lot of the branch 7. In the parking lot of the branch 7, the transport robot 1 is guided to the inside of the cash transport vehicle 3, the tracking mode is ended, and the standby mode is set. This series of operations is performed at each branch 7 and finally returns to the head office 6.
An operation performed when a transfer robot is attacked by a robber while transferring an important object such as cash will be described. When the robber is attacked, the guard 2 keeps his or her own safety without worrying about the transport robot 1. In the first place, in the case of the present system, the security guard 2 is in a light state without directly holding cash or the like, and is constantly alert to the surroundings. In addition, since the transfer robot 1 has a robust structure and a high weight, it is very difficult for a robber to remove the transfer robot 1. Further, a threatening operation is performed by the remote control 21 of the guard 2. That is, when the guard 2 operates the stun gun 14 by operating the remote controller 21 and a burglar attempts to touch the transport robot 1, an electric shock is applied. By generating a high volume from the speaker 13, the presence of a burglary can be clarified in the surroundings. The burglary cannot even touch the transport robot 1 and escapes.
[0008]
Hereinafter, the transfer robot 1 will be described in detail with reference to FIGS. FIG. 3 is an external view of the transfer robot. FIG. 4 is a diagram illustrating overall functional blocks of the transfer robot 1.
The transfer robot 1 includes a communication unit 11 for transmitting and receiving images and various commands as wireless signals, a microphone 12 for inputting voices of a security guard 2 and the like, a speaker 13 for performing intimidation and voice guidance, and an electric shock for robbery. , A storage unit 15 for storing important objects, an imaging unit 16 including one or more CCD cameras and lighting for photographing the front and periphery of the transfer robot 1, and an object in front of the transfer robot 1 Distance measuring sensor 17 for measuring the distance to the vehicle, a lateral sensor 19 for detecting the presence or absence of an obstacle within a predetermined distance to the side of the transfer robot 1, a caterpillar for enabling the climbing / descent to the cash transport vehicle 3 and the like. And a traveling unit 18 that is a wheel, and a control unit 10 that controls these.
The communication unit 11 is an antenna that transmits and receives status information, such as an instruction signal and an image, between the monitoring center 4 and the guard 2 by wireless signals. That is, an image photographed by the photographing unit 16 and an abnormality occurrence signal are reported to the monitoring center 4 via the wireless line 5 such as a mobile phone line or PHS, and various remote control commands are received from the monitoring center 4. In addition, a radio signal can be directly received from the remote control 21 possessed by the guard 2.
The important object storage 15 has a structure similar to that of a safe, and is strong against impact and has sufficient strength for destruction, door opening, and the like. Further, the door of the important object storage 15 cannot be unlocked unless voice authentication of a person having a specific right is performed. For this reason, the important object storage 15 has a very large mass of several hundred kg, making it difficult for a robber to open the door of the important object storage and rob an important object. In addition, a plurality of stun guns 14 are provided around the transfer robot 1 to prevent a robber from touching the transfer robot 1 and apply an electric shock when touched.
The control unit 10 includes a wireless communication unit 101, a voice processing unit 102, a threat control unit 103, a storage control unit 104, an image processing unit 105, a distance data processing unit 106, and a travel control unit 107.
The wireless communication unit 101 transmits a signal received from the remote control 21 possessed by the security guard 2 to another unit via the communication unit 11. Also, it receives various commands received from the monitoring center 4 via the mobile phone network 5 and the communication unit 11 and transmits them to other means. Alternatively, an image or an emergency signal photographed from the photographing unit 16 is notified to the monitoring center 4.
The voice processing means 102 processes voice input from the microphone 12, and performs speaker recognition and voice recognition. The speaker recognition is performed by comparing the voiceprint information of a person who has the authority to open and close the important object storage 15 with the voiceprint information of the input voice to determine whether the voice is the voice of the same person. I do. Here, the voiceprint information registered in advance may be information of two security guards in charge of transport, or information of a plurality of persons such as another security guard 2 or a person in charge of a financial institution. good. The voice recognition is a process of determining whether an input voice matches a voice registered in advance and recognizing the meaning of the voice. In the present embodiment, two types of voices, “door open” and “door closed”, are recognized. In this way, the result of the speaker recognition and the voice recognition is used by the storage control unit 104 and the like.
The threat control means 103 controls the speaker 13 and the stun gun 14. That is, when the guard 2 operates the remote controller 21 and receives an emergency signal transmitted from the communication unit 11 when the robbery is attacked, the security guard 2 emits a high volume intimidating sound from the speaker 13 and turns off the power of the stun gun 14. Control to ON. Further, the threat control is continued until a threat stop signal is received from the monitoring center 4.
[0009]
The storage control unit 104 controls the opening or closing of the door for the important object storage 15. The control flow of the storage control means 104 will be described with reference to FIG. First, control of the important object storage 15 is started by receiving a storage control signal from the remote control 21 possessed by the guard 2. Upon receiving the storage control signal, the storage control unit 104 starts a one-minute timer. Then, it is determined whether or not the transfer robot 1 is currently set in the standby mode (S510). If the transfer robot 1 is set in the standby mode, it waits for a voice input (S511). On the other hand, if it is not waiting, the process ends without performing storage control because the transfer robot 1 is moving (S510 "No"). This prevents the door of the important object storage 15 from being erroneously controlled while the transport robot 1 is traveling. Even when there is no voice input during the one-minute timer, the storage control is ended ("Yes" in S512). Next, when there is a voice input ("YES" in S511), the speaker processing (S513) is executed by the voice processing means 102. In the speaker authentication process (S513), it is determined whether or not the voice is of a legitimate person having the authority to control the important object storage 15 (S514). Here, if it is a voice of a legitimate person ("Yes" in S514), the process proceeds to the voice recognition process (S515). If it is determined that the voice is not a voice of a legitimate person ("No" in S514), the storage control process is terminated. This makes it possible to strictly manage the authority for controlling the important object storage 15 using the biometric information called voiceprint. In other words, even if the robbery is attacked, unless the voice of the guard 2 is registered, the important object storage 15 cannot be controlled, and the risk of stealing only the important items is reduced. Even if the voice of the security guard 2 is registered, the security guard 2 can be transported while watching the surroundings while being away from the transport robot 1, and therefore the possibility of being caught with the transport robot 1 is low. Furthermore, if the security guard 2 is killed because of the use of sound, the possibility of being killed is reduced because a burglar cannot open the important item storage 15. In the voice recognition processing, the voice processing means 102 determines whether or not the input voice is "door open" (S516). If it is "door open", the door of the important object storage 15 is opened (S517). If not "door open", it is determined whether or not "door closed" (S518). If it is “door closed”, the door is controlled to be closed (S519). If neither "door open" nor "door closed" (S518 "No"), the storage control process is terminated because the meaning is unknown.
[0010]
Next, the image processing unit 105 will be described. The image processing unit 105 controls the illumination of the photographing unit 16 and the timing of photographing, and performs processing for extracting the guard 2 from the photographed image. That is, images at the time of turning on and off the lighting are read, and a difference image between the two images is generated. Based on the difference image, the image area of the guard 2 is specified and labeled. Further, the relative position of the labeled image area in the real space with respect to the transport robot 1 is calculated. This process is repeated to sequentially track the image area to be labeled. In this way, the positional relationship between the transport robot 1 and the security guard 2 is calculated at any time by image processing and provided to the travel control means 107. Further, the captured image is subjected to compression processing and stored in an image storage unit (not shown).
The distance data processing means 106 labels one block of distance data recognized as the guard 2 based on the one-dimensional distance data input from the front distance measuring sensor 17, and outputs the actual distance of the labeled one block of distance data. The relative position with respect to the transfer robot 1 in the space is calculated. This process is repeated to sequentially track the distance data to be labeled. In this way, the positional relationship between the transport robot 1 and the guard 2 is calculated at any time based on the distance data and provided to the travel control unit.
The traveling control unit 107 controls the wheels and the tracks of the traveling unit 18 based on the image processing unit 105, the distance data processing unit 106, the side distance measurement sensor 19, various posture sensors (not shown), and the like. I do.
[0011]
Here, the tracking processing in the traveling control means 107 will be described with reference to FIG.
The tracking mode is started when the guard 2 stands in front of the transfer robot 1 and receives a tracking start signal transmitted from the remote controller 21. When the tracking mode is set, the distance data processing unit 106 and the image processing unit 105 recognize the guard 2 to be tracked by labeling it from the image area and the block of distance data (S610). Specifically, the distance data processing unit 106 collects distance data of a block of the same object that is the closest to the same object among objects within a range of 45 degrees left and right from the front of the transport robot 1 collected by the front distance measurement sensor 17. Labeling. Further, the image processing unit 105 captures both an image illuminated in front of the transfer robot 1 and an image not illuminated, and extracts a difference image between the two images. Here, in the extracted difference image, the image of the retroreflective material 22 worn by the guard 2 has high brightness. This high-luminance area is labeled as a block of image data. Then, if the labeled distance data and image data are present in substantially the same direction, the respective data groups are recognized as the guard 2. Here, when it cannot be recognized as the security guard 2, this process is repeated until it can be recognized. When the security guard 2 can be recognized, the security guard 2 is notified by voice from the speaker 13.
Next, tracking processing of the labeled one block of distance data is started. That is, a process of acquiring distance data from the front distance measurement sensor 17 at predetermined intervals and extracting a block of distance data that is a tracking candidate similar to the previously labeled block of distance data as the security guard 2 candidate A is performed. (S611). Next, it is determined whether or not the security guard candidate A has been extracted (S612). If the security candidate A cannot be extracted (S612 "none"), the search area of the front distance measuring sensor 17 is expanded (S613). The security candidate A is extracted again in the expanded search area. Here, if the security guard candidate A cannot be extracted even when the search area is expanded to the maximum value (for example, 90 degrees left and right) as shown in FIG. 3 (S614 “Yes”), the security guard 2 is lost. Judgment is made and the traveling is stopped (S622). First, the search area of the front distance measuring sensor 17 is set to, for example, 45 degrees left and right, and the security guard 2 is recognized. If the security guard 2 cannot be tracked, the search area is expanded, so that the tracking processing can be speeded up.
On the other hand, when the security guard candidate A has been extracted (“YES” in S612), it is determined whether a plurality of security guard candidates A have been extracted. Here, if it is one security guard candidate A ("No" in S615), tracking is performed as the distance data of one block of the security guard candidate A (S619). Then, the relative position in the real space is calculated by using the distance data of the tracked one block as the traveling target, and the wheel drive of the traveling unit 18 is controlled based on the calculation result (S620).
On the other hand, when a plurality of security guard candidates A are extracted ("YES" in S615), a security guard candidate B is extracted by the image processing means 105 (S616). Then, collation with the security guard candidate A and the security guard candidate B is performed (S617). That is, the candidate A is extracted in which the relative directions of the candidate guards A and B and the transfer robot 1 match within a predetermined range. Here, if the matching security guard candidate A cannot be extracted within the predetermined range ("No" at S618), or if a plurality of security guard candidates are extracted, it is determined that the security guard 2 is out of sight or the tracking target is unknown, and the safety is determined. Stop running because of. On the other hand, if the security guard candidate A can be identified as one (S618 “Yes”), the lump distance data on the security guard candidate A is tracked and travel control is performed (S620). As described above, when tracking cannot be specified only by the distance data processing means, the information can be narrowed down by the information from the image processing means 105. As a result, a tracking error can be prevented, and the security guard 2 can be reliably tracked.
These series of processes are repeated until the tracking end signal is received ("No" in S612). When the tracking end signal is received, the vehicle stops running (S622), and ends the tracking process. When traveling stops, the mode is set to the standby mode.
[0012]
Next, the operation of the transport robot when the transporter changes the traveling direction will be described with reference to FIGS.
FIG. 7 is a flowchart showing the traveling control of the transfer robot.
FIGS. 8A, 8B, and 8C are diagrams illustrating the operation of the transfer robot 1 when the obstacle A is present.
As shown in FIG. 8A, when the transfer robot 1 goes straight and tracks the transfer person 2, the detection range (the range indicated by the dotted line) of the side ranging sensor 19 of the transfer robot 1 is set to a short distance. Therefore, the vehicle can pass by the obstacle A as it is.
Next, a case where the carrier 2 moves in the horizontal direction as shown in FIG. 8B will be described.
The transfer robot 1 tries to turn around in the direction in which the transferer 2 has moved. However, if the vehicle is turned as it is, it will collide with the obstacle A as shown by the dotted line.
Therefore, the transfer robot 1 operates so as to avoid obstacles as follows.
The transport robot 1 detects the lateral movement of the transporter 2 by the front distance sensor 17 and recognizes the traveling direction from the positional relationship between the transporter 2 and itself (S710). Then, the turning angle required to turn the own traveling direction is calculated (S711). That is, when the carrier 2 moves significantly, the turning angle also increases, and when the carrier 2 moves less, the turning angle decreases.
Next, the detection distance of the side distance sensor 19 is set according to the turning angle calculated in S711 (S712). That is, when the turning angle is large, the detection distance is set long, and when the turning angle is small, the detection distance is set short.
Next, an obstacle on the side of the transfer robot 1 is detected at the detection distance set in S713.
Here, when an obstacle is not detected (S713 "No"), that is, since the vehicle does not collide with the obstacle even if the vehicle is turned, the turning operation is performed as it is (S716).
If an obstacle is detected on the side surface as shown in FIG. 8C, the turning operation is stopped (S714), the vehicle is moved forward by a predetermined distance (S715), and the transporter 2 advances again from its own positional relationship. Detect direction. (S710) Hereinafter, the above operation is repeated.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a cash transport system to which the present invention is applied.
FIG. 2 is an external view of a security guard's clothes and a remote controller.
FIG. 3 is an external view of a transfer robot.
FIG. 4 is a functional block diagram of a transfer robot.
FIG. 5 is a storage control flow of the transfer robot.
FIG. 6 is a traveling control flow of the transfer robot.
FIG. 7 is a traveling control flow for avoiding obstacles of the transfer robot.
FIG. 8 is a diagram illustrating an operation of the transfer robot to avoid an obstacle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Transport robot 2 ... Security guard 3 ... Cash transport vehicle 4 ... Monitoring center 5 ... Mobile telephone network

Claims (2)

A transport robot that recognizes a carrier and tracks while keeping a predetermined distance,
Detecting means for detecting a carrier and surrounding obstacles provided on the outer surface of the transfer robot,
Traveling means;
It is provided with traveling control means for controlling the traveling means,
The detecting means determines a distance at which the transfer robot detects an obstacle in accordance with an angle at which the transfer robot tries to turn according to the movement of the carrier,
The transport robot according to claim 1, wherein the traveling control unit stops the turning operation when the detecting unit detects an obstacle when trying to turn. 2. The transport robot according to claim 1, wherein the travel control unit advances the predetermined distance and resumes the tracking operation of the tracking target object after stopping the turning operation.

Images