JP2004142070A - Conveyor robot and conveyance system using conveyor robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveyor robot with position information being a key for the opening requirement when opening an important item storage chamber, and a conveyance system using the conveyor robot. <P>SOLUTION: The conveyor robot 1 mounting an important item storage chamber 15 comprises a GPS reception unit 14 and a position reception means 103 to acquire position information, a storage unit 110 to store position information of a conveyance point in advance, and a storage chamber control means 104 to control take-out of important items from the important item storage chamber 15 when the acquired position information is matched with the registered position information. <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 an important object storage for storing important items such as cash, securities, jewelry, and medicine. The present invention relates to a robot for transporting an important object that is released on condition that the position information coincides with the position information.
[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 thief is highest during transportation of open spaces from cash transport vehicles to stores such as financial institutions. That is, since the cash transport vehicle is parked on the parking lot or on the road, it is possible for even the general public to approach the duralumin case or bag during transportation to the inside of the store of the financial institution, which is extremely dangerous. .
[0003]
Patent Document 1 (Japanese Patent Application Laid-Open No. 8-150936) discloses a cash transport system in which it is difficult to rob, and even if a robbery is made, it is not easy to carry around and can be easily detected even in an accident. Has been proposed. Further, a cash transport system has been proposed in which a wireless device is provided, a specific point from a departure point to a destination is determined as a fixed point, and a report is made by a transmitter when passing through this point. Conventional cash transport systems try to avoid the threat of robbery during transportation by making the container that stores cash weighing a small number that cannot be carried by a small number of people and using a structure that can load and unload cash inside the building. . If there is no fixed point report, it is made clear that an abnormality has occurred.
[0004]
[Patent Document 1] JP-A-8-150936
[Problems to be solved by the invention]
However, in the conventional cash transport system, it is not possible to confirm the occurrence of an abnormality if only a fixed point report can be made, that is, there is a problem that the abnormality does not occur when a robber travels on the same transport route. Therefore, although the abnormality is originally occurring, the confirmation of the occurrence of the abnormality may be delayed, and the damage may be increased.
[0006]
Therefore, an object of the present invention is to provide a transfer robot that uses position information as a key and a transfer system using the transfer robot as a requirement for opening when the important object storage is opened.
[0007]
[Means for Solving the Problems]
In order to solve such a problem, a first invention is a transport robot equipped with an important object storage, an important object storage for storing important items, a position information acquisition unit for acquiring position information, A storage unit that stores the position information of the transport location, position determination means that determines whether the obtained position information matches the position information stored in the storage unit, and the position information And a storage control means for controlling so that an important object can be taken out from the important object storage when it is determined that the transfer robots coincide with each other.
[0008]
According to such a transfer robot, the condition that the position where the important object storage for storing important items is opened coincides with the position information registered in advance, so that even if the transfer robot is stolen by robbery, It is extremely safe because important items cannot be taken out of the important item storage at a place other than the predetermined place.
[0009]
Preferably, the apparatus further includes an authentication unit for authenticating the operator, and the position determination unit is activated when the authentication unit authenticates the operator.
[0010]
Further, the position determining means has a notifying means for notifying an abnormality when the acquired position information does not match a previously stored place.
[0011]
Further, there is provided a patrol sequence determining means for determining whether the patrol sequence of the transfer robot is a pre-registered sequence.
[0012]
Further, the traveling order determining means is activated when the position determining means determines that the respective pieces of position information match.
[0013]
In order to solve such a problem, a second invention is a transfer system including a transfer robot equipped with an important object storage and a monitoring center for acquiring position information from the transfer robot, When the transport robot receives an important object storage for storing important objects, a position information acquisition unit for acquiring position information, communication means for exchanging signals with the monitoring center, and an opening drive signal received by the communication means. Has a storage control unit that controls the important items to be able to be taken out of the important item storage, wherein the monitoring center stores storage information that stores pre-registered position information, and transmits from the position information acquisition unit. Position determining means for determining whether the obtained position information matches position information stored in the storage means in advance, and the position information storing the position information by the position determining means. If they match, to provide a conveyance system using a conveyance robot, characterized by a transmitting means for transmitting an opening drive signal to said transfer robot.
[0014]
According to such a transport system, the patrol position information and the patrol order may be determined in advance at the monitoring center, so that the centralized management is easy and the patrol order and the like can be changed on a case-by-case basis, so that higher security can be secured.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention (hereinafter, referred to as embodiments) will be described with reference to the drawings.
[0016]
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 collects and distributes important items such as cash, securities, various bonds, and the like necessary from the head office 8 of the financial institution to, for example, a plurality of branches 9A to 9C (the circulating order is an order of 9A, 9B, and 9C). System. 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 transfer robot 1 is connected to a monitoring center 4 via a network 5. Further, a base station 6 of a mobile phone and a location server 7 are connected to the network 5. In addition, a GPS (Global Positioning System) satellite 50 and a base station 6 are used for the transport robot 1 to acquire its own positional information.
[0017]
The transfer robot 1 has a GPS receiving unit 14 having a GPS signal receiving function and a communication unit 11 having a mobile phone communication function as shown in FIG. Communication is performed, the GPS signal and the base station signal are transmitted to the location server 7, and the location server 7 can acquire its own location information. Here, the base station signal is a signal received by the transport robot 1 from the base station 6 and includes a code for identifying the base station 6 and time information of a radio wave transmitted by the base station 6, and is transmitted similarly to the GPS signal. It is used to calculate the position of the robot 1.
[0018]
It also has a traveling section 18 for climbing / descending stairs and traveling on a flat road, and is equipped with an important object storage 15 for storing important objects. 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.
[0019]
The security guard 2 wears a uniform incorporating a regression reflector 22 so that the transport robot 1 can easily track the security guard 2, and has a remote controller 21 for issuing various instructions to the transport robot 1. I have. FIG. 2 shows the appearance of the security guard 2 and the remote controller 21 when wearing uniforms. 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 an image captured while the illumination is projected by the imaging unit 16, a portion where the regression reflection material is woven has high brightness. Further, the remote controller 21 includes a liquid crystal display unit (not shown) and an operation unit for transmitting various signals, and the guard 2 gives an instruction to the transfer robot 1 to display an image from the transfer robot 1 and a current state. I do. Although not shown for the sake of simplicity, there is provided a means for communicating with the transfer robot 1 wirelessly.
[0020]
The schematic operation of the cash transport system using the transport robot 1 of the present invention will be described. First, in the head office 8 of the financial institution, the security guard 2 stores cash and the like to be transported to each of the branches 9A to 9C in the important matter storage 15. Then, the security guard 2 or the person in charge of the head office of the financial institution registers the position information of each branch 9A to 9C to be visited on the day in advance in the storage unit 110 of the control unit 10 of the transfer robot 1 using the remote controller 21 or a personal computer. Also, the tour order is registered in the same manner. In this case, the registration is performed in the order of the A branch 9A, the B branch 9B, and the C branch 9C. Note that the location information of all branches controlled by the transport robot 1 is stored in the storage unit 110 in advance, and only the branch to be visited on the day is selected, and the location information and the traveling order information of the branch are stored in the storage unit 110. The information may be registered in the access storage area, and the other branch information may be in a suspended (non-access) state.
[0021]
Next, 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 sets the standby mode when the ride is completed.
[0022]
Thereafter, the guard 2 drives the cash transport vehicle 3 from the head office 8 and moves to the parking lot of the A branch 9A of the financial institution. In the parking lot of the branch 9A, 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 guard 2 proceeds from the A branch 9A parking lot to the A branch 9A. Since the guard 2 does not need to have cash or the like, he / she enters the A branch 9A while performing sufficient vigilance against the surroundings such as the danger of robbery. The transfer robot 1 enters the A branch 9A while tracking the security guard 2 with cash or the like. The security guard 2 operates the remote controller 21 to set the transport robot 1 to the standby mode at a safe place in the A branch 9A where important objects are loaded and unloaded.
[0023]
The guard 2 transmits a storage control signal to the transfer robot 1 from the remote controller 21. When the transfer robot 1 receives a voice input after receiving the storage control signal via the communication unit 11, the transfer robot 1 checks whether the voice is a voice of a person who has authority to control the important object storage 15. Here, in the case of the voice of the authorized person, the GPS signal and the base station signal are transmitted to the location server 7 and the location information calculated by the location server 7 is received and acquired. Next, it is determined whether the acquired location information matches any of the location information of the branches 9A to 9C registered in advance. If they match, it is next determined whether they match the cyclic order. If they match, the door of the important object storage 15 is opened.
[0024]
When the position information and the traveling order do not match, the control unit 10 causes the communication unit 11 to transmit an abnormal signal to the monitoring center 4 via the network 5. Here, the authorized person may be the security guard 2 who is in charge of transport, or may be the person in charge of each branch 9. The security guard 2 takes out cash and the like for the purpose of delivery from the opened important object storage 15 of the transfer robot 1 and delivers it to the person in charge at the A branch 9A. The collected cash is stored in the important item storage 15. When the storage is completed, the important object storage 15 of the transfer robot 1 is closed and locked by operating the voice or the remote controller 21.
[0025]
Again, the guard 2 sets the transfer robot 1 to the tracking mode and heads for the parking lot of the A branch 9A. The transport robot 1 is guided to the inside of the cash transport vehicle 3 at the A branch 9A parking lot, the tracking mode is ended, and the standby mode is set. Such a series of operations is performed in the A branch 9A, the B branch 9B, and the C branch 9C, and finally, returns to the head office 8.
[0026]
Hereinafter, the transport robot 1 which is one of the embodiments of the present invention will be described in detail with reference to FIGS. FIG. 3 is a diagram illustrating overall functional blocks of the transfer robot 1.
[0027]
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 a GPS from a GPS satellite 50. A GPS receiving unit 14 for receiving signals, an important object storage 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 a front of the transfer robot 1. A front distance measuring sensor 17 for measuring the distance to a certain object, a side distance measuring sensor 19 for detecting the presence or absence of an obstacle within a predetermined distance on the side of the transport robot 1, an ascent / descent to the cash transport vehicle 3, and the like. It comprises a traveling unit 18 that is a crawler and wheels that can be used, and a control unit 10 that controls these components.
[0028]
The communication unit 11 is an antenna that transmits and receives an instruction signal, status information such as an abnormal signal and an image, a base station signal, and the like to and from the guard 2 or to the monitoring center 4 via the base station 6 and the network 5. is there. That is, an image photographed by the photographing unit 16 and an abnormality occurrence signal are reported to the monitoring center 4 via the network 5 such as a mobile phone line or PHS, and various remote control commands are received from the monitoring center 4. Further, when the transfer robot 1 determines that the transfer robot 1 is abnormal, it sends an abnormal signal to the monitoring center 4 in the same manner as described above. In addition, the base station transmits a base station signal received from the base station 6 and a GPS signal received by the GPS receiving unit 14 to the position server 7 via the base station 6 and the network 5 and receives position information from the position server 7. Note that a wireless signal can be directly transmitted or received between the security guard 2 and the remote controller 21 possessed by the security guard 2.
[0029]
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. In addition, the door of the important object storage 15 is unlocked when the voice authentication of a person having a specific authority, the position information at the time of authentication matches the position information registered in advance, and the circulation order matches. You. The important object storage 15 has a very large mass of several hundred kg, and it is 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 (not shown) are provided around the transfer robot 1 to prevent a robber from touching the transfer robot 1 and apply an electric shock when touched.
[0030]
The control unit 10 includes a wireless communication unit 101, a voice processing unit 102, a position receiving unit 103, a storage control unit 104, an image processing unit 105, a distance data processing unit 106, a traveling control unit 107, a position determining unit 108, a patrol order determination. It comprises means 109 and a storage unit 110.
[0031]
The wireless communication unit 101 transmits a signal received from the remote control 21 possessed by the guard 2 via the communication unit 11 to another unit. Further, it receives various commands received from the monitoring center 4 via the network 5 and the communication unit 11 and transmits them to other means. Alternatively, the monitoring unit 4 is notified of an image or an emergency signal photographed by the photographing unit 16. Further, the control unit 10 transmits an abnormal signal or the like generated by the control unit 10 to the monitoring center 4 via the communication unit 11 and the network 5.
[0032]
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 previously registered voiceprint information of a person who has the authority to open and close the important object storage 15 with voiceprint information of an input voice to determine whether the voice is the same person's voice. I do. Here, the voiceprint information registered in advance may be the information of the two security guards who are in charge of the transportation, or the 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. As a result of the speaker recognition, the same person is authenticated, and as a result of the voice recognition, when the voices match and the meaning is recognized, the position receiving unit 103 and the position determining unit 108 are activated. Here, the voice processing unit 102 corresponds to an authentication unit according to the present invention.
[0033]
The position receiving unit 103 receives position information (latitude, longitude, and error) from the position server 7 via the GPS receiving unit 14. The received location information is compared and collated with the location information of each branch traveling on the day registered in the storage unit 110 in advance by the location determination unit 108 to determine whether or not they match. The position receiving unit 103 and the GPS receiving unit 14 constitute a position information acquiring unit according to the present invention.
[0034]
The patrol sequence determining unit 109 is started when the position determining unit 108 matches the positional information of the branch to be visited on the day, and determines whether the branch order matches the patrol order registered in the storage unit 108 in advance.
[0035]
If the patrol order matches, the storage control unit 104 controls the important object storage 15 to open or close the door.
[0036]
If the information does not match the information registered in advance by the position determining means 108 or the traveling order determining means 109, an abnormal signal indicating that an abnormality has occurred is notified by voice through the speaker 13, and the wireless communication means 101 An abnormal signal is transmitted to the monitoring center 4 via the unit 11, the base station 6, and the network 5. As described above, the position judging means 108 and the tour order judging means 109 have the notifying means for notifying the abnormality when the acquired position information or the tour order does not match the information stored in advance.
[0037]
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.
[0038]
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).
[0039]
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.
[0040]
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.
[0041]
In the voice recognition processing, the voice processing means 102 determines whether or not the input voice is "door open" (S516). If the door is open, the GPS receiver 14 is started to receive its own position information, the GPS signal is received from the GPS satellite 50, and the base station signal is received and acquired by the communication unit 11 at the same time. Then, the data is transmitted to the position server 7 via the communication unit 11 (S520). The position server 7 calculates the position of the transfer robot 1 from the received GPS signal and base station signal, and transmits the position to the transfer robot 1 (S521). The position receiving unit 103 of the transport robot 1 receives its own position information via the communication unit 11.
[0042]
The position determining unit 108 determines whether the received position information matches the position information of each branch stored in the storage unit 110 in advance (S522). Note that the stored location information of the branches 9A, 9B, and 9C includes the location information of the branch in the parking lot when it is necessary to open and close the door of the important storage 15 in the cash transport vehicle 3. It may be information. Then, when there is position information that matches the received position information, the tour order determining unit 109 determines whether the tour order matches (S523). In the case of this embodiment, since the tour has been made from the financial institution head office 8 to the A branch 9A, the information of the head office is input to a predetermined storage area of the storage unit 110.
[0043]
If “No” in S522 or S523, an abnormal signal indicating that an abnormality has occurred as an illegal act is notified by voice through the speaker 13, and the wireless communication unit 101, the communication unit 11, the network 5, and the like are notified. An abnormal signal is transmitted to the monitoring center 4 via the server (S524). If "Yes" in S523, the door of the important object storage 15 is opened (S525). After that, the completion of the import / export of the important items of the A branch 9A is stored in a predetermined storage area of the storage unit 110 so as to overwrite the information of the head office. Even if the door of the important object storage 15 is opened and closed a plurality of times in the A branch 9A, the information of the same A branch 9A is ignored and is not overwritten.
[0044]
That is, when the storage control unit 104 receives the release signal from the audio processing unit 102 and is authenticated, the storage control unit 104 acquires the GPS signal from the GPS satellite 50 by the GPS receiving unit 14, and at the same time, the communication unit 11 And transmits it to the location server 7 via the communication unit 11. The position server 7 calculates the position of the transfer robot 1 from the received GPS signal and base station signal, and transmits the calculated position information to the transfer robot 1. The position receiving unit 103 receives its own position via the communication unit 11 of the transport robot 1, and from the received position information, the information on the door opening position of the important object storage 15 matches the previously registered branch position information. Or, if they match, it is checked whether the patrol sequence of the transfer robot 1 is correct by the patrol sequence determining means 109, and if this is also correct, the door of the important object storage 15 is changed from the locked state to the unlocked state. The door of the important object storage 15 is opened by driving the electric actuator that does not operate.
[0045]
On the other hand, if it is 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). That is, when receiving the closing signal from the voice processing means 102, the storage control means 104 drives the electric actuator to close the important object storage 15 door, and opens the important object storage 15 door from the released state to the locked state. And
[0046]
If neither "door open" nor "door closed" (S518 "No"), the storage control process is terminated because the meaning is unknown.
[0047]
In the present embodiment described above, the position information of the transfer robot 1 is calculated by the position server 7 from the GPS signal and the base station signal. The controller 10 may calculate the position.
[0048]
Next, a transfer system using a transfer robot according to the second invention will be described with reference to FIGS.
[0049]
FIG. 5 is a diagram illustrating overall functional blocks of the transfer robot 60. Note that the same numbers are used for the same functional blocks as in FIG.
[0050]
The transfer robot 60 includes a communication unit 11 for transmitting and receiving images and various commands as wireless signals, a microphone 12 for inputting voices of the security guard 2 and the like, a speaker 13 for performing intimidation and voice guidance, and a GPS from the GPS satellite 50. A GPS receiving unit 14 corresponding to a position information acquiring unit according to the present invention for acquiring own position information using signals and base station signals, an important object storage 15 for storing important objects, and a front of a transfer robot 60. A photographing unit 16 including one or a plurality of CCD cameras and illumination for photographing the periphery, a distance measuring sensor 17 for measuring a distance to an object in front of the transfer robot 1, and a predetermined distance on a side of the transfer robot 1. A side distance measuring sensor 19 for detecting the presence or absence of an obstacle, a traveling unit 18 which is a crawler and a wheel capable of ascending / descending the cash transport vehicle 3 and controlling these. And a control unit 10.
[0051]
The communication unit 11 communicates with the guard 2 or with the monitoring center 4 via the base station 6 or the network 5, the status information such as an instruction signal, an abnormal signal, an image, and the position acquired by the GPS receiving unit 14. An antenna that transmits and receives information. That is, the control unit 10 performs voice authentication of a person having a specific right, and when the GPS reception unit 14 obtains the GPS signal from the GPS satellite 50 and the base station signal from the base station 6 when the authentication is performed, The GPS signal and the base station signal are transmitted to the base station 6 via the wireless communication means 101 and the communication unit 11 constituting the communication means according to the present invention, with its own ID identification number. The base station 6 receives the GPS signal and the base station signal, and transmits the GPS signal and the base station signal with the ID identification number to the monitoring center 4 via the network 5. The monitoring center 4 calculates the position of the transfer robot 60.
[0052]
The control unit 10 includes a wireless communication unit 101, a voice processing unit 102, a storage control unit 104, an image processing unit 105, a distance data processing unit 106, and a traveling control unit 107.
[0053]
FIG. 6 is a schematic block diagram of the monitoring center 4. The monitoring center 4 is connected to the network 5 and communicates, a control unit 42 that controls each block of the monitoring center 4, a position management server 44 that determines the position of the transfer robot 60, It is configured to include an abnormality monitoring unit 46 that detects and instructs a predetermined countermeasure, and a storage unit 48 corresponding to a storage unit according to the present invention, and these are connected to each other via a LAN (Local Area Network).
[0054]
The position management server 44 acquires the position information based on the GPS signal and the base station signal notified by the transfer robot 60 via the communication unit 40, and calculates the accurate position of the transfer robot 60. The calculated position information of the transfer robot 60 is transmitted to the abnormality monitoring unit 46.
[0055]
The abnormality monitoring unit 46 determines whether the position information of each branch registered in the storage unit 48 in advance matches the position information of the transport robot 60 calculated by the position management server 44. If they do not match, it is determined that there is an abnormality, and the supervisor of the monitoring center 4 instructs a predetermined guard to take measures. Also, the abnormality information is transmitted to the network 5. The data is transmitted to the control unit of the transfer robot 60 via the base station 6 and the communication unit 11. The control unit 100 sounds an alarm through the speaker 13, and transmits a notification to the remote control 21 of the security guard 2 via the communication unit 11 that the alarm is abnormal. The security guard 2 understands that an abnormality has occurred. Here, the abnormality monitoring unit 46 corresponds to a position determining unit according to the present invention.
[0056]
When the position information matches, the abnormality monitoring unit 46 further determines whether the tour order registered in advance in the storage unit 48 matches the present tour order. If they do not match, it is determined to be abnormal, and the same measures as described above are taken.
[0057]
The control flow of the storage control unit 104 will be described with reference to FIG. First, steps 610 to 616 and 618 to 620 are the same as steps 510 to 516 and 518 to 520 in FIG.
[0058]
The GPS signal and the base station signal acquired by the GPS receiving unit 14 are transmitted to the base station 6 via the communication unit 11 with their own ID numbers (S621). This position information signal is transmitted to the monitoring center 4 via the base station 6 and the network 5 as described above.
[0059]
The transmitted position information signal is sent from the monitoring center 4 to the position management server 44 via the communication unit 40 and the control unit 42, and the position management server 44 calculates the position information of the transport robot 60, and The location information of each branch registered in the network and the traveling order information are compared with the calculated location information, and if they match, an opening drive signal is transmitted from the communication unit 40 via the network 5 and the base station 6. The data is transmitted to the control unit 10 through the communication unit 11 of the robot 60. Here, the communication unit 40 corresponds to a communication unit according to the present invention. Upon receiving the opening drive signal (S622), the control unit 10 causes the storage control unit 104 to open the door of the important storage 15 (S623).
[0060]
In the present embodiment, the authentication of the operator is performed by voice recognition as an example of biometrics. However, fingerprint verification, face image verification, and iris verification may be performed. In addition, in consideration of the required security performance of the transfer robot, authentication using an ID card or a password may be used, or a plurality of authentication methods may be used.
[0061]
【The invention's effect】
As described above, according to the present invention, the condition that the position where the important object storage for storing important objects is opened coincides with the position information registered in advance is used. Even if it is, it is extremely safe because important items cannot be taken out of the important item storage at a place other than the predetermined place.
[0062]
In addition, only when the operator is authenticated as the same person as the pre-registered person, calculation of the position information, which is a condition for opening the important object storage, comparison and collation are performed, and the transport robot patrolls in the pre-registered order. It is determined whether or not there is an abnormality, and if there is an abnormality in the position information and the traveling order, the abnormality is reported, so that the safety can be further improved.
[0063]
Further, according to the transfer system using the transfer robot, the patrol position information and the patrol order can be determined in advance at the monitoring center. Safety can be ensured.
[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.
FIG. 3 is a functional block diagram of a transfer robot.
FIG. 4 is a diagram showing a storage control flow of the transfer robot.
FIG. 5 is a functional block diagram of a transfer robot according to another invention.
FIG. 6 is a functional block diagram of a monitoring center.
FIG. 7 is a diagram showing a storage control flow of the transfer robot.
[Explanation of symbols]
1, 60 transfer robots, 2 security guards, 3 cash transport vehicles, 4 monitoring centers,
5 mobile phone network, 6 base stations, 7 location server, 10, 42 control unit,
11, 40 communication unit, 14 GPS reception unit, 15 important goods storage,
44 location management server, 46 abnormality monitoring unit, 48, 110 storage unit,
50 GPS satellite, 101 wireless communication means, 102 voice processing means,
103 position receiving means, 104 storage control means, 108 position determining means, 109 traveling order determining means.

Claims (6)

A transport robot equipped with an important object storage,
An important object storage for storing important objects, a position information acquisition unit for acquiring position information, and a storage unit for storing position information of the transport destination in advance,
Position determining means for determining whether the obtained position information matches the position information stored in the storage unit,
A transport robot, comprising: storage control means for performing control so that an important object can be taken out of the important object storage when the position determination means determines that the respective pieces of position information match. 2. The transfer robot according to claim 1, further comprising an authentication unit for authenticating an operator, wherein the position determination unit is activated when the operator is authenticated by the authentication unit. 3. The transfer robot according to claim 1, wherein the position determining unit further includes a notifying unit that notifies an abnormality when the acquired position information does not match the position information stored in advance. 2. The transfer robot according to claim 1, further comprising a patrol order determining unit that determines whether the transfer order of the transfer robot is a registered order. 5. The transfer robot according to claim 4, wherein the patrol sequence determining unit is activated when the position determining unit determines that the respective pieces of position information match. A transport system including a transport robot equipped with an important object storage and a monitoring center that acquires position information from the transport robot,
The transfer robot,
An important item storage for storing important items, a position information acquisition unit for acquiring position information,
Communication means for exchanging signals with the monitoring center, and storage control means for controlling to enable removal of important items from the important object storage when an opening drive signal is received by the communication means,
The monitoring center is
Storage means for storing position information registered in advance,
Position determination means for determining whether the position information transmitted from the position information acquisition unit matches position information stored in the storage means in advance,
A transfer unit that transmits an opening drive signal to the transfer robot when the position information matches the stored position information by the position determination unit. .

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