JP2004126800A - Transport robot and transport system using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transport robot which transports important articles easily and safely, while guards are keep full strict watch over the surroundings. <P>SOLUTION: The transport robot, which is provided with an important article storage shed and tracks a transporter, is provided. In addition, the robot is provided with an authenticating means for authenticating the operator, a pursuing part which travels to pursue the operator and a storage shed control part, which controls the important article storage shed so that the important articles are taken out when the operator is authenticated at the authentication part. Such a robot enables the operator to keep full strict watch over the surroundings since the operator is not required to hold the important articles directly and also can let the robot carry the important articles, while the operator's hands not occupied. <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, jewelry, and medicine, and more particularly, to an important object transport robot that assists 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 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. .
Japanese Unexamined Patent Publication No. Hei 8-150936 proposes a cash transport system in which it is difficult to rob, and even if it is robbed, it cannot be easily carried, and even if an accident occurs, it can be easily detected. This conventional cash transport system is designed to avoid the threat of robbery during transportation, for example, by making the container for storing cash a weight that cannot be carried by a small number of people, and by making the structure that cash can be loaded and unloaded in the 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, an object of the present invention is to realize a transport robot that can easily transport an important object while easily transporting an important object and allowing a security guard to be vigilant about the surroundings.
[0005]
[Means for Solving the Problems]
In order to solve such a problem, a first invention is a transport robot that carries an important object storage and tracks a transporter, and includes an authentication unit that authenticates an operator, and a tracking that travels while tracking the operator. The present invention provides a transfer robot including a storage unit and a storage control unit that controls an important storage so that an important object can be taken out when an operator is authenticated by the authentication unit. According to such a transport robot, the important object can be transported by the transport robot in a state where both hands are empty without the operator directly holding the important object, so that the operator can be fully alert to the surroundings. In addition, since it is necessary to authenticate a person who can take out an important item from the important item storage, it becomes difficult to take out only the important item and escape in the event of a burglary.
Preferably, the operator is recognized based on distance data from the operator obtained from a distance measurement sensor capable of measuring distance data of one or more dimensions, and the tracking is performed while maintaining a predetermined distance from the operator. Since the operator has a predetermined distance from the transport robot, it is easy for the operator to secure his or her own safety when a robber approaches the transport robot.
More preferably, when a plurality of operator candidates are extracted by the distance measurement sensor, an operator candidate capable of recognizing the operator is tracked as an operator by a photographing unit that images the operator. Even if a plurality of operator candidates are detected by the distance measuring sensor, the operator candidates can be specified by the image.
Further, preferably, by mounting a threatening unit for threatening a thief, it becomes possible to protect the transport robot from robbery.
Further, when the distance measurement sensor cannot extract an operator candidate, the search area of the distance measurement sensor is expanded to extract an operator candidate. As a result, the search area of the distance measurement sensor can be narrowed in a normal state, so that the tracking process of the operator can be speeded up.
Further, preferably, the storage control unit is provided with a storage unit for storing a mode for tracking based on an instruction of the operator and a standby mode, and when the operator is authenticated by the authentication unit in the standby mode, the important object storage is provided. Is released.
Further, preferably, by performing authentication using biometrics, the operator can be specified more reliably than when authenticating the operator by possessing an ID card or the like.
In order to solve such a problem, a second invention provides a transport system including a transporter in charge of collection and delivery of important items, and a transport robot mounted with an important item storage and tracking the transporter. I do. According to such a transport system, the transporter is released from transporting an important object by hand and can pay attention to the surrounding area.
[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 that collects and delivers necessary items such as cash, securities, and various bonds 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 guard 2 wears security clothing incorporating a regression reflection material 22 so that the transport robot 1 can easily track the guard 2, and has a remote controller 21 for issuing various instructions to the transport robot 1. ing. 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 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 an image from the transfer robot 1 and a current state. I do. Although not shown for the sake of simplicity, a means for communicating with the transfer robot 1 wirelessly is provided.
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 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 the robber 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, it is possible to directly transmit or receive a wireless signal to and 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 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 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 control 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). That is, when receiving the opening signal from the voice processing means 102, the storage control unit 104 changes the door of the important storage 15 from the locked state to the unlocked state, and drives the electric actuator to open the door of the important storage 15. I do.
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 unit 104 closes the important object storage 15 door by driving the electric actuator, and shifts the important object storage 15 door from the released state to the locked state. I do.
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). It is determined whether 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 guard candidate A cannot be extracted within the predetermined range (S618 “No”), or if a plurality of matching guard candidates are extracted, it is determined that the guard 2 is out of sight or the tracking target is unknown, and 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 S621). 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.
Although not described in the present flow, the obstacle tracking processing and the emergency stop processing are important as the tracking processing. Since these processes have been put to practical use in the transport robot 1 that travels independently, the description thereof is omitted here.
[0012]
Further, 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.
Further, in the embodiment of the present invention, the remote controller 21 has been described as a hand type shown in FIG. 2B, but is configured by a combination of a head mounted display and an earphone microphone as shown in FIG. 2C. Is also good. In this case, it is possible for the security guard to give instructions to the transfer robot 1 in a hands-free manner, and furthermore, it is possible to constantly check the image captured by the transfer robot 1. That is, the voice of the security guard 2 is input from the ear microphone, and the processing is performed in the same manner as the operation input to the operation unit 212 of the remote controller 21. Further, a display similar to that of the display unit 211 of the remote controller 21 can be displayed on the head mounted display. Therefore, the sense of unity between the transfer robot 1 and the security guard 2 is improved, and it is possible to pay sufficient attention to security during transfer.
[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.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Transport robot 2 ... Security guard 3 ... Cash transport vehicle 4 ... Monitoring center 5 ... Mobile telephone network

Claims (16)

A transport robot equipped with an important object storage and tracking the operator,
An authentication unit for authenticating the operator;
A tracking unit that tracks the operator and travels;
A transport robot, comprising: a storage control unit that controls a storage of important items so that an important item can be taken out when the operator is authenticated by the authentication unit. The tracking unit has a distance measurement sensor that can measure one-dimensional or more distance data,
The transport robot according to claim 1, wherein the operator recognizes the operator based on distance data from the operator obtained by the distance measuring sensor, and performs tracking while maintaining a predetermined distance from the operator. The tracking unit has a photographing unit that photographs the operator,
3. The transport robot according to claim 2, wherein when a plurality of operator candidates are extracted by the distance measurement sensor, the operator that can recognize the operator by the imaging unit is tracked as the operator. The transport robot according to claim 1, further comprising a threatening unit for threatening a thief. The transfer robot according to claim 2, wherein the tracking unit expands a search area of the distance measurement sensor and extracts an operator candidate when the distance measurement sensor cannot extract an operator candidate. The storage control unit has a storage unit that stores a mode for tracking based on an instruction of an operator and a standby mode, and stores an important object when the authentication unit authenticates the operator in the standby mode. The transfer robot according to claim 1, wherein the transfer robot is opened. The transfer robot according to claim 1, wherein the authentication unit performs authentication using biometrics. A transport system comprising a transporter in charge of collection and delivery of important items, and a transport robot mounted with an important item storage and tracking the transporter. The transporter has a remote controller that receives instructions from the transport robot and images from the transport robot by wireless communication,
9. The transport system according to claim 8, wherein the transport robot starts tracking the transporter based on an instruction from the remote controller, and transmits an image being tracked to the transporter. The transport system according to claim 8,
The transport robot includes an authentication unit that authenticates the transporter, a tracking unit that tracks the transporter, and a storage unit for storing important items so that when the transporter is authenticated by the authentication unit, important items can be taken out. A transport system comprising a storage control unit for controlling. The transport robot has a ranging sensor that can measure one-dimensional or more distance data in a tracking unit,
9. The transport system according to claim 8, wherein the transporter is recognized based on distance data from the transporter obtained by the distance measuring sensor, and tracking is performed while maintaining a predetermined distance from the transporter. 10. The tracking unit has a photographing unit that photographs the carrier,
12. The transport system according to claim 11, wherein when a plurality of transporter candidates are extracted by the distance measuring sensor, the transporter that can recognize the transporter in the photographing unit tracks as the transporter. The transport system according to claim 8, wherein the transport robot has a threatening unit that threatens a pirate based on a signal from the remote controller. The transport system according to any one of claims 8 to 13, wherein the transport robot expands a search area of the distance measurement sensor and extracts a transporter candidate when a transporter candidate cannot be extracted by the ranging sensor in a tracking unit. . The transfer robot has a storage unit for storing a mode for tracking based on an instruction of the transporter and a standby mode in the storage control unit, and is important when the authentication unit authenticates the transporter in the standby mode. 15. The transport system according to claim 8, wherein the article storage is opened. The transport system according to claim 8, wherein the transport robot authenticates an authentication unit using biometrics.

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