JP3326067B2 - Automatic machine group management system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic machine group management system that replenishes and collects transaction media with a plurality of automatic transaction devices installed in financial institutions such as banks by using a movable replenishment and collection machine. Things.

[0002]

2. Description of the Related Art Conventionally, an automatic transaction device (ATM) installed in a financial institution such as a bank has been used in order to improve customer service by saving labor and shortening processing time. For example, there has been proposed a system for automatically replenishing and collecting bills when the number of bills is excessive or insufficient. This system moves a medium replenishment and collection machine that can store bills to an automatic transaction device that requires replenishment or collection, connects the automatic transaction device to a bill conveyance path, and performs replenishment or collection of bills. . As a result, media such as banknotes stored in a large number of automatic transaction apparatuses arranged in a store can be collectively managed.

An automatic machine group management system having such a medium replenishing and collecting machine has the following configuration in order to provide a system which is mechanically excellent in safety. That is, an ultrasonic sensor, a touch sensor, and a lever sensor are provided on the side surface of the medium replenishment and recovery machine that moves on the back side of the plurality of automatic transaction devices arranged in parallel. The ultrasonic sensor detects an obstacle including a person present in the traveling direction of the medium replenishment and recovery machine, and the touch sensor detects an obstacle on a rail on which the medium replenishment and recovery machine travels. The lever sensor detects an obstacle that comes into contact with the medium replenishing and collecting machine at a relatively high position and on the automatic transaction apparatus side while the medium replenishing and collecting machine is moving. In addition, a light emitting and receiving sensor is provided on an upper portion of the rear surface of the medium replenishing and collecting machine, and the light emitting and receiving sensor detects opening and closing of a door of the automatic transaction apparatus. In either case, the collision does not damage the person or the device.

A centralized control unit for remotely controlling the medium replenishment and recovery machine temporarily stops the medium replenishment and recovery machine when detecting an obstacle on the rail by the ultrasonic sensor of the medium replenishment and recovery machine. Then sound the buzzer and refill the automatic transaction device again.
Wait for collection request. When an obstacle that comes into contact with the medium replenishing and collecting machine is detected by the touch sensor and the lever sensor, the medium replenishing and collecting machine is immediately stopped. After the clerk removes the obstacle, the medium replenishment and recovery machine continues to stop until an operation to notify the central control unit of the group management system of the restart is performed.

[0005]

However, the conventional automatic machine group management system as described above has the following problems to be solved. In the conventional automatic machine group management system, when the ultrasonic sensor of the medium replenishment and recovery machine does not detect an obstacle and the touch sensor and lever sensor of the medium Therefore, an operation to remove the obstacle and notify the restart to the central control unit of the group management system is required. If the obstacle cannot move or if you do not want to move the medium replenishment and recovery machine to a certain area for maintenance work, etc., the touch sensor and lever sensor of the medium replenishment and recovery machine may collide with the obstacle. Each time a detection is made, there is a problem that a staff member needs to remove an obstacle and perform a restart operation from the central control unit of the group management system.

[0006]

The present invention employs the following structure to solve the above problems. <Structure 1> The present invention provides a medium replenishment and recovery machine that runs between a plurality of automatic transaction devices and replenishes and collects a medium for each automatic transaction device.
A centralized control unit that controls the running of the medium replenishment and recovery machine, a non-contact type sensor that is provided in the medium replenishment and recovery machine and detects an obstacle that is separated in the traveling direction, and is provided to protrude from the medium replenishment and recovery machine.
Contact-type sensor that detects obstacles by
When the central control unit receives the detection signal from the contact type sensor and stops the medium replenishment and recovery machine urgently, after removing the obstacle, the medium replenishment and recovery machine operates at a low speed to the predetermined automatic transaction device. When running, receiving the detection signal from the non-contact type sensor and stopping the medium replenishing and collecting machine slowly, after removing the obstacle, the medium replenishing and collecting machine is driven at a high speed to a predetermined automatic transaction device. I do.

<Explanation> The medium replenishing and collecting machine automatically executes a medium replenishing process and a collecting process on the automatic transaction apparatus. To self moving the medium replenishment collecting machine, for that medium supplemented collected machine to prevent such danger, a non-contact type <br/> sensor for detecting the separation obstacles, abutment against the obstacle Contact sensor
And are provided. Here, when an obstacle is detected, if it is not possible to restart the operation until the obstacle is removed,
A clerk must rush to the scene immediately.

In this system, the central control section sets the subsequent traveling range of the medium replenishment and recovery machine based on the obstacle detection position, so that the operation can be temporarily resumed within a range that does not collide with the obstacle. This is referred to as degenerate operation.
The clerk may then remove the obstacle at an appropriate timing.

The travel range may be set automatically based on the obstacle detection position, or may be set manually by a staff member. Further, two or more automatic transaction devices may be provided, and one or more media replenishment and recovery machines may be provided.

[0010] If there are two or more medium replenishment and recovery machines, the traveling range is set separately for each. Further, the medium replenishing and collecting machine may be provided with a self-propelled moving mechanism of any configuration that freely travels not only on the laid track but also in a preset range.

[0011]

[0012]

[0013]

[0014]

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below using specific examples. <System Configuration> FIG. 1 is a block diagram of a main part of an automatic machine group management system of the present invention, and FIG. 2 is a perspective view showing an automatic machine group management system of a specific example. First, an entire automatic machine group management system according to an embodiment will be described. 1 and 2, an automatic machine group management system according to the present invention includes an automatic transaction device (hereinafter referred to as ATM) 1 which is installed side by side in plural units.
A medium replenishment and recovery machine 2 moving behind the ATM 1;
And a centralized control section 3 for controlling the medium replenishment and recovery machine 2 based on the information from the information processing apparatus 1. As shown in FIG. 2, the central control unit 3 includes an operation unit 3a, a display unit 3b, a printer 3
c is provided, and the media replenishing and collecting machine 2 is operated by operating the operation unit 3a.
Is positioned at an arbitrary ATM 1 and the banknotes are replenished and collected between the ATM 1 and the medium replenishing and collecting machine 2. This result or the result of counting the banknotes stored in the medium replenishing and collecting machine 2 is displayed on the display unit 3b and output to the printer 3c.

As shown in FIG. 1, a self-propelled means 4 composed of a drive motor and the like is provided at the bottom of the medium replenishing and recovering machine 2, and the wheels 5 are rotated by the self-propelled means 4. The wheels 5 travel on rails 6 laid in the direction in which the ATMs 1 are arranged. Three ultrasonic sensors 7a and 7 are provided on the side surface 2a of the medium replenishing and collecting machine 2 and the side surface 2b on the opposite side, respectively.
b, 7c are attached. These ultrasonic sensors 7a, 7b, 7c emit ultrasonic waves, and when an obstacle is present on the traveling road, receive the reflected sound from the obstacle to detect the obstacle. In the case of this specific example, when detecting an obstacle, the ultrasonic sensors 7a, 7b, and 7c can measure the time from generating an ultrasonic wave to receiving a reflected sound, and measure this time. By doing so, the distance from the medium replenishment and recovery machine 2 to the detected obstacle can be measured.

<Structure of Centralized Control Unit> In addition to the functions described above, the centralized control unit is provided with a mechanism for setting a movable range described later. Specifically, as shown in FIG. 1, a movable range setting unit 67 and a movable range storage unit 6
8, a degenerate key 61, an automatic key 62,
A manual key 63, a release key 64, a restart key 65, and a range setting key 66 are provided. These keys are
It is assigned to a virtual key or the like on the keyboard of the operation unit 3a shown in FIG. 2 or on the screen of the display unit 3b.

As shown in FIG. 2, the medium replenishment / recovery machine 2 moves freely from one end of the rail 6 to the other, and performs a medium replenishment and recovery process for each automatic transaction apparatus 1. However,
If there is any obstacle on the rail 6, the medium replenishment / recovery machine 2 is suddenly stopped by a detection mechanism described later. Here, if the medium replenishment and recovery machine 2 is stopped until the clerk removes the obstacle, the burden on the clerk increases, and the medium replenishment and recovery machine 2 does not function until the clerk arrives. Therefore, in the present invention, when the medium replenishment and recovery machine 2 detects an obstacle and stops, the medium replenishment and recovery machine 2 moves by itself in a range where the obstacle does not exist and resumes operation.

For this purpose, a movable range setting section 67 is provided. Also, various keys 61 to 66 are provided to instruct such a movable range setting. The degeneration key 61 is a key pressed by a staff member when resuming operation while being restricted in the movable range.
That is, when the clerk removes the obstacle and starts the original operation, the degeneration key 61 is not pressed. In this case, the restart key 65 is pressed and the operation is resumed.
The movable range storage unit 68 stores an obstacle detection position 69 when an obstacle is detected and stopped, or sets a maintenance area 70 for limiting the movable range as described later. In this case, a storage area for storing the data is provided.

When an automatic key 62 detects an obstacle,
A key for automatically giving an instruction to set a movable range outside the range. The manual key 63 is a key that is pressed by a clerk when manually designating a movable range. The release key 64 is a key for releasing the mode when an obstacle is detected and degeneration operation is performed. The restart key 65 is a key that is pressed when the medium replenishment and recovery machine 2 starts operation. Range setting key 66
Is a key pressed by the attendant to manually set a range in which movement should be restricted. In this case, as a range setting method, for example, the self-propelled moving range of the medium replenishing and collecting machine 2 is displayed on the display unit 3b shown in FIG. 2 using a picture, and the movable range or movement on the screen is displayed. A method of directly designating a prohibited range using a cursor or the like is suitable.

<Structure of Sensor> FIGS. 3 and 4 are explanatory diagrams showing the detection range of the ultrasonic sensor. As shown in the figure, the ultrasonic sensors 7a, 7b, 7c can detect obstacles in the moving direction in front of the side surfaces 2a, 2b of the medium replenishing and collecting machine 2. In particular, the ultrasonic sensor 7
Reference numerals a and 7c are adapted to detect obstacles approaching the ATM 1 from the back side of the ATM 1 with respect to the medium replenishing and recovering machine 2. Existing obstacles are detected. Obstacles existing in the moving direction of the medium replenishment and recovery machine 2 are likely to collide with the medium replenishment and recovery machine 2, and for example, a person who maintains the ATM 1 often approaches the ATM 1 from the medium replenishment and recovery machine 2 side. . Considering these, the detection ranges of the ultrasonic sensors 7a, 7b, 7c are set so that obstacles including humans can be detected efficiently.

Returning to FIG. 1, the side surface 2 of the medium replenishing and collecting machine 2
A touch sensor 8 is provided at the bottom of the a and 2b. The touch sensor 8 detects the obstacle when the obstacle contacts the touch sensor 8. Since the touch sensor 8 is provided so as to protrude from the side surfaces 2a and 2b as shown in FIG. 2, the obstacle can be detected before the obstacle comes into contact with the medium replenishing and collecting machine 2, and the obstacle can be detected. The possibility of damage to the medium replenishment and recovery machine 2 due to contact is reduced. In addition, the surface is formed of urethane or the like,
It can absorb the impact when an obstacle collides. The touch sensor 8 mainly detects an obstacle on the rail 6.

A lever sensor 9 is also provided on the side surfaces 2a and 2b of the medium replenishing and collecting machine 2. Lever sensor 9
Detects an obstacle that comes into contact with the medium replenishment and recovery machine 2 while the medium replenishment and recovery machine 2 is moving, and mainly detects an obstacle that is present relatively upward on the ATM 1 side.

FIG. 5 is an explanatory view showing the structure of the lever sensor, and shows the medium replenishing and collecting machine 2 as viewed from above.
In the figure, a lever sensor 9 projecting toward the ATM 1 side is shown.
Is a contact portion 10 with which an obstacle directly contacts, a support portion 11 that rotatably supports the contact portion 10, and one end 10a of the contact portion 10
And a photo interrupter 13 for detecting the rotation of the contact portion 10. The other end 10b of the contact portion 10
Is formed on the contact portion 10.
When the other end 10b is rotated as shown by a two-dot broken line in the figure due to contact with an obstacle, the light of the photo interrupter 13 is blocked. Thereby, the contact of the obstacle with the contact portion 10 is detected.

FIG. 6 is a plan view showing a specific example of the light emitting and receiving sensor, showing the medium replenishing and collecting machine 2 and the ATM 1 from above.
In the figure, the back side 2c side (ATM1
On the upper side, light emitting and receiving sensors 15a and 15b are provided. Each of the light emitting and receiving sensors 15a and 15b is provided with a light emitting element and a light receiving element.
The reflected light is received by a light receiving element. A slit plate 16 is provided between the light emitting / receiving sensor 15a and the light emitting / receiving sensor 15b, and the light emitted from the light emitting / receiving sensor 15a passes through the slit plate 16 to the ATM 1 side. The emitted light travels toward the ATM 1 through the slit plate 16. That is, the light beams emitted from the light emitting / receiving sensors 15a and 15b are, as shown in FIG.
From the angle α, and in this embodiment, the angle α
Is set to about 15 degrees.

On the back surface 1a of the ATM 1, a maintenance door 17 is provided.
A reflection plate 18 is attached to an upper portion of the door 17 in a direction in which the medium replenishment and recovery machine approaches. The reflection plate 18 reflects light output from the light emitting and receiving sensors 15a and 15b of the medium replenishing and collecting machine 2 toward the light emitting and receiving sensors 15a and 15b. That is, for example, the light emitting and receiving sensors 15a and 15b receive the reflected light from the reflecting plate 18, respectively, thereby detecting the proximity of the ATM 1 to the medium replenishing and collecting machine 2.

<Internal Structure> FIG. 7 is a side view showing the internal structure of the ATM and the medium replenishment and recovery machine of this embodiment. In the drawing, a banknote depositing / dispensing device 21 for depositing / dispensing banknotes is arranged inside an ATM 1, and can handle replenishment / collection banknotes via a replenishment / collection unit. ATM1
An adapter 22 is provided on the rear side of the device, and the adapter 22 has a supply path 23 for replenishment and a transfer path 24 for collection. An end of the replenishment transport path 23 is connected to a bill replenishment transport path 25 of the banknote depositing / dispensing device 21, and an end of the recovery transport path 24 is connected to a bill collection transport path 26 of the banknote depositing / dispensing apparatus 21. I have. The banknote replenishment transport path 25 is used to transfer replenishment banknotes to the deposit / withdrawal unit 2.
7 and stored in safes 28 and 29 for each denomination of banknotes.
The bill collection / transportation path 26 is used to transfer collected bills to the deposit / withdrawal unit 27.
Is transported to the recovery transport path 24 via the. In addition, a discriminating unit 30 that discriminates whether the bill is true or false, whether the bill is correct, or the like is provided above the depositing and dispensing unit 27.

Inside the medium replenishing and collecting machine 2, a plurality of banknote storages 31 and 32 for storing banknotes, a circulating transport path 33, a banknote recognition processing section 34, a replenishment branch transport path 35, a collection branch transport path 36, Blades 38a to 38f, a replenishing connection guide member 39, and a collection connection guide member 40 are provided. The bill storage shelves 31 and 32 each have a bill stacking section 41, a bill feeding section 42 for feeding a replenishment bill, and a bill feeding section 42A.
A collected banknote take-in unit 43 for taking the collected banknotes from the TM1 into the banknote bins 31 and 32, and a reject banknote take-in unit 44 for taking the rejected banknotes recognized as unrefillable among the replenishment banknotes into the banknote bins 31 and 32 are provided. ing.

FIG. 8 is a block diagram showing a group management system according to this embodiment. In the figure, a centralized control unit 3 controls a plurality of ATMs 1 and a medium replenishment and recovery machine 2,
The display unit 3b, the printer 3c, and the operation unit 3a are controlled.

<Control System> FIG. 9 is a block diagram showing a control system of the medium replenishment and recovery machine. In the figure, a controller 51 for controlling the medium replenishment and recovery machine 2 includes a blade switching unit 37,
The drive circuit 52, the bill recognition processing unit 34, the bill transport system drive unit 53, the self-propelled means 4, and the sensor circuits 54 and 55 are connected, and the control unit 51 controls them. The blade switching unit 37 is configured by an electromagnetic solenoid (not shown) or the like, and switches the blades 38a to 38f in the medium replenishing and collecting machine 2 when replenishing or collecting bills.

The drive circuit 52 includes an electromagnetic solenoid 56
Are excited and demagnetized, so that the replenishing connection guide member 39 and the collection connection guide member 40 shown in FIG.
And the banknotes can be transported between the medium replenishing and collecting machine 2 and the ATM 1. The bill recognition processing unit 34 performs recognition processing such as discrimination, type, and number of replenished bills. The bill transport system drive unit 53 drives a transport system in the medium replenishment and recovery machine 2. As described above, the self-propelled means 4 causes the medium replenishing and recovering machine 2 to travel on the rail 6, and is connected to the slit sensor 57. The slit sensor 57 detects the amount of rotation of a slit plate (not shown) provided on a shaft for rotating the wheels 5 of the medium replenishing and collecting machine 2. The distance can be determined.

The sensor circuit 54 includes an ultrasonic sensor 7a,
7b, 7c and the light emitting / receiving sensors 15a, 15b are connected, and the sensor circuit 54 drives these sensors and monitors these sensors. Ultrasonic sensor 7a,
When the sensors 7b and 7c and the light emitting and receiving sensors 15a and 15b detect an obstacle, the sensor circuit 54 outputs a detection signal to the control unit 51.
And the control unit 51 stops the self-propelled means 4. The touch sensor 8 and the lever sensor 9 are connected to the sensor circuit 55, and the sensor circuit 55 drives these sensors and monitors these sensors. When the touch sensor 8 and the lever sensor 9 detect an obstacle,
The sensor circuit 55 sends a detection signal to the control unit 51, and the control unit 51 causes the self-propelled means 4 to stop immediately.

<Setting of Movement Range> FIG. 10 is a flowchart showing the operation of setting the movement range of the medium replenishment and recovery machine. As shown in the lower part of the figure, the movable range B when the medium replenishment and recovery machine 2 detects a collision with the obstacle 75 or the movable range A when the maintenance range C is set is set to the operation unit 3.
Set with a. First, the medium replenishment / recovery machine 2 moves the obstacle 75
If the collision is detected, the clerk removes the obstacle 75, and then in step S1, the restart key 65
Is pressed to perform a restart operation, or the degeneration key 61 is pressed to proceed to step S2, where the movable range of the medium replenishment and recovery machine 2 is set, and then a restart operation is performed. Degenerate key 6
After pressing 1, if the automatic key 62 is pressed in step S2, the process proceeds to step S3 to execute the automatic setting of the movable range. If the manual key 63 is pressed, the process proceeds to step S4 to execute the manual setting of the movable range. I do. Movable range B
The automatic setting of makes it impossible to move the medium replenishment and recovery machine 2 from the position P1 immediately before the collision with the obstacle 75 is detected in the direction in which the medium replenishment and recovery machine 2 has moved. Position P3 ~ P4
The manual setting of the movable range A after the maintenance range C is set is performed by the media replenishing and collecting machines 2 and A displayed on the display unit 3b.
The user operates the operation unit 3a while looking at the position of TM1.
The movable range of the medium replenishment and recovery machine 2 extends from the maintenance range to the position P2 immediately before.

As described above, the apparatus according to the present invention sets the movable range so that the medium replenishing and collecting machine 2 does not enter an arbitrary area, in addition to simply setting the movable range in order to avoid obstacles. Then, the staff can perform various types of maintenance work at that portion. This does not matter, for example, whether the end portion or the center portion of the movable range of the medium replenishment and recovery machine. Therefore, the medium replenishment and recovery machine 2 is moved in advance to a wide area and the movable range is set so that the medium replenishment and recovery machine can continue the medium replenishment and recovery processing for as many automatic transaction devices as possible. Is preferred. Also,
For example, when two medium replenishment and recovery machines 2 cooperate in performing medium replenishment and recovery processing, one medium replenishment and recovery machine 2 is arranged separately on each side of the maintenance area, and as many as possible. It is preferable to perform the replenishment and collection of the medium for the automatic transaction device.

Further, in the above example, the medium replenishment and recovery machine 2 replenishes and recovers the medium while traveling on the rails. Similarly, the movable range can be set. In this case, since the traveling path is complicated, the movable range is set two-dimensionally, not one-dimensionally as in the above specific example.

<Actual Operation> Next, the actual operation will be described. The automatic machine group management system has completed the start-up operation and is in an operation state. In this state, the centralized control unit 3 monitors whether or not a bill replenishment request signal has been received from any of the ATMs 1, and if received, transmits a replenishment operation start signal to the ATM 1. Even if the ATM 1 in the immovable area transmits a bill replenishment request signal to the central control unit 3, the central control unit 3 determines from the setting information of the movable range of the medium replenishment and recovery machine 2 that the ATM is in the immovable area. Judge and invalidate this signal. In the ATM 1, the safe 2 of the banknote deposit / withdrawal device 21 is used.
When it detects that 8,29 is near end,
A bill replenishment command and replenishment bill type data are transmitted to the central control unit 3.

The central control unit 3 confirms that a bill end signal has not been output from the bill storage box 32 in the medium replenishing and collecting machine 2 and issues a command to the medium replenishing and collecting machine 2 to start moving. At this time, each sensor of the medium replenishment and recovery machine 2, that is, the ultrasonic sensors 7a, 7b, 7c, the light emitting and receiving sensors 15a,
15b, the touch sensor 8 and the lever sensor 9 are in an on state,
That is, it is in a detectable state. At the start of the movement, the control unit 51 sets the medium replenishment and recovery machine to one of the ATM1s.
To determine the position of the medium replenishment and recovery machine.
Further, a counter (not shown) in the control unit 51 receives the slit detection signal from the slit sensor 57, starts counting the number of slits, and starts measuring the moving distance of the medium replenishment and recovery machine 2. The counter continuously counts the number of slits during the movement of the medium replenishing and collecting machine 2.

If any of the ultrasonic sensors 7a, 7b, 7c detects an obstacle in the traveling direction of the medium replenishing and collecting machine 2 while the medium replenishing and collecting machine 2 is moving, the ultrasonic sensors 7a, 7c
Signals from b and 7c are sent to the sensor circuit 54, and a detection signal is sent from the sensor circuit 54 to the control unit 51. When receiving the detection signal, the control unit 51 issues a command to the self-propelled means 4 to gradually stop. Ultrasonic sensors 7a, 7
As described above, b and 7c can detect an obstacle at a position slightly away from the medium replenishing and collecting machine 2 and calculate the distance to the obstacle at the time of detection, so that if the distance to the obstacle is allowed, Thus, the medium replenishment and recovery machine 2 can be stopped slowly.

<Speed Control> FIG. 11 is a time chart showing the speed control of the medium replenishment and recovery machine. In the figure, the vertical axis indicates the moving speed, and the horizontal axis indicates the moving distance. First, the medium replenishment / recovery machine 2 starts from a position X1, which is a current position, accelerates to a maximum speed at a position X2, and thereafter becomes a high speed. When the ultrasonic sensors 7a, 7b, 7c detect an obstacle at the position X3, for example, at a position X7 1 m away from the medium replenishing / recovering machine 2, the brake is applied at the position X3 and the vehicle travels slowly at a constant speed at the position X4. Transition. Thereafter, the obstacle is still detected, and for example, the medium replenishing and collecting machine 2 is moved to the position X.
If it has reached 5, the brake is applied at this position X5 and the medium replenishment and recovery machine 2 is stopped at the position X6. Position X5
Is about 15 cm in this specific example. The position X5 at which the brake is applied may be any position at which the distance from the position X5 to the obstacle is greater than the distance from when the brake is applied to when the medium replenishment and recovery machine 2 stops. As described above, since the ultrasonic sensors 7a, 7b, and 7c detect an obstacle at a position sufficiently distant from the medium replenishing and collecting machine 2, it is possible to apply a brake in advance to the slow speed, and the medium replenishing and collecting machine 2 No slip occurs between the wheel 5 and the rail 6. Therefore, the moving distance can be accurately detected by the slit sensor 57.

When the medium replenishment and recovery machine 2 stops, the control unit 51 shown in FIG. 9 sends a signal to the centralized control unit 3 shown in FIG. 8 that an obstacle has been detected, and the centralized control unit 3 receives this signal. The alarm is displayed on the display unit 3b shown in FIG. The operator can confirm that the obstacle is present in the traveling direction of the medium replenishing and collecting machine 2 by looking at the displayed alarm, and the obstacle is removed by the operator. Since the control unit 51 of the medium replenishment and recovery machine 2 knows the position where it has stopped, it can be restarted when the obstacle is removed. The control unit 51 of the medium replenishment and recovery machine 2 accelerates the self-propelled means 4 from the stopped state, and moves at a high speed and a constant speed shown in FIG. When the vehicle reaches the target ATM 1, the vehicle is positioned on the back of the ATM 1 so that banknotes can be replenished. The operation of replenishing bills will be described later.
If the obstacle has not been removed by the operator, the operator operates the operation unit 3a while looking at the display unit 3b shown in FIG. 8 where the error location is displayed, sets an area that the user does not want to move, and restarts. Becomes possible. In addition, even when the user does not want to move the medium replenishment and recovery machine 2 to the maintenance range in advance, it is possible to set an area that he does not want to move by operating the operation unit 3a while looking at the display unit 3b. To release the restricted moving area, the operator operates the operation unit 3a.

In order to position the medium replenishing and collecting machine 2 on the back of the ATM 1, as described above, the control unit 51 of the medium replenishing and collecting machine 2 accelerates the self-propelled means 4 from the stopped state, and FIG.
It moves at a constant speed at the high speed shown in. When the vehicle reaches the target ATM 1, the vehicle is positioned on the back of the ATM 1 so that banknotes can be replenished. Further, since the central control unit 3 knows the position of the medium replenishment and recovery machine 2 and the position where the obstacle is detected, the central control unit 3 determines the position of the medium replenishment and recovery machine 2
The area on the moving direction side may be automatically set as an immovable area.

<Emergency Stop> Next, when the touch sensor 8 detects an obstacle on the rail 6 in the traveling direction of the medium replenishing and collecting machine 2 while the medium replenishing and collecting machine 2 is moving, the touch sensor 8 The signal is sent to the sensor circuit 55 shown in FIG. 9, and the sensor circuit 55 sends a detection signal to the control unit 51. In response to this signal, the control unit 51 issues a command for the self-propelled means 4 to perform an emergency stop. As a result, the medium replenishment and recovery machine 2 is stopped urgently, so that an obstacle does not excessively hit the housing of the medium replenishment and recovery machine 2. At this time, the wheels 5 and the rails 6 may slip due to the emergency stop of the medium replenishment and recovery machine 2, and the detection signal of the slit sensor 57 becomes unreliable. Invalidate. Further, the control unit 51 controls the ultrasonic sensor 7
a, 7b, 7c and the light emitting / receiving sensor 15
The detection signals from a and 15b are invalidated. Further, the control unit 51 issues an alarm to the central control unit 3 in the same manner as described above.
Is displayed on the display unit 3b. The detection signal of the slit sensor 57 and the ultrasonic sensors 7a, 7b, 7
The timing at which the detection signal from c is made valid again is after the positioning of the medium replenishment and recovery machine 2 on the back of the ATM 1 is completed. This is because information is exchanged with the ATM 1 by positioning to the ATM 1, and a deviation of the slit sensor detection value can be corrected from the position information stored in advance in association with the ATM 1. The position control of the medium replenishment and recovery machine 2 with respect to the ATM 1 is described in Japanese Patent Application No. 6-18 / 1990.
9898.

<Resumption of Movement> When the obstacle on the rail 6 is removed and the staff instructs to resume the movement, the control unit 51 drives the self-propelled means 4 again to move the medium replenishment and recovery machine 2. However, in this case, the moving speed of the medium replenishment and recovery machine 2 is set to the low speed shown in FIG. As a result, the medium replenishing and collecting machine 2 moves toward the target ATM 1 at a low speed, and when reaching the target ATM 1, is positioned at the back of the ATM 1. When the obstacle on the rail 6 is not removed, or when the operator does not want to move the medium replenishment and recovery machine 2 to a certain area for maintenance, the operator sets the area not to be moved in the same manner as described above. Or the central control unit 3 can automatically set the movement area. To release the restricted moving area, the operator operates the operation unit 3a.

When an obstacle is detected by the touch sensor 8,
By disabling the detection signals from the ultrasonic sensors 7a, 7b, 7c, for example, when the wall is close to both sides of the present system, the medium replenishing and collecting machine 2 can move the both ends of the rail 6,
That is, even when approaching a position within 1 m from the wall, the wall is not erroneously detected as an obstacle. In addition, the touch sensor 8
When an obstacle is detected by the ultrasonic sensors 7a, 7b, 7
The detection signal from c may be left valid without being invalidated. In this case, if the medium replenishment and recovery machine 2 approaches the wall, there is a possibility that the wall is erroneously detected as an obstacle, but since a real obstacle can be detected, more importance is placed on safety. It can be said that it is a form. Further, the user may be allowed to select one of the two modes.

<Lever sensor> Next, the medium replenishment and recovery machine 2
A case where an obstacle is detected by the lever sensor 9 during the movement will be described. The obstacle in this case is A
It is conceivable that the banknote pay-in / pay-out device 21 should be stored in the TM1. Obstacles other than the banknote depositing / dispensing apparatus 21 include a door on the back of the ATM 1, a passbook entry machine, a card reader, a coin depositing / dispensing machine, and the like. The banknote pay-in / pay-out device 21 can be pulled out from the back of the ATM 1, and a staff member pulls out the banknote pay-in / pay-out device 21 to perform necessary processing during maintenance or the like. The lever sensor 9 of the medium replenishing and collecting machine 2 is substantially connected to the bill depositing and dispensing device 21.
Is provided at a height at which the banknote pay-in / pay-out device 21 is completely installed in the ATM 1, thereby preventing a collision with the adapter 22 at a high speed.

When the lever sensor 9 contacts a part of the banknote pay-in / pay-out device 21 of the ATM 1, the other end 10b of the contact portion 10 is pushed by the banknote pay-in / pay-out device 21 as shown in FIG. The light of the interrupter 13 is blocked. As a result, a signal is sent from the photo interrupter 13 to the sensor circuit 55 shown in FIG. 9, and the sensor circuit 55 sends a detection signal to the control unit 51. Upon receiving this signal, the control unit 51 issues a command to the self-propelled means 4 to perform an emergency stop. As a result, the medium replenishment and recovery machine 2 is urgently stopped, and the banknote depositing and dispensing device 21 is prevented from excessively hitting the housing of the medium replenishment and recovery machine 2. At this time, the wheels 5 and the rails 6 may slip due to the emergency stop of the medium replenishment and recovery machine 2, and the detection signal of the slit sensor 57 becomes unreliable. Invalidate. Further, the control unit 51 includes the ultrasonic sensors 7a, 7b, 7
The detection signal from c is invalidated. Further, the control unit 51
As in the case described above, the alarm is displayed on the display unit 3b of the central control unit 3.

When the obstacle on the rail 6 is removed, the control unit 51 drives the self-propelled means 4 again to activate the medium replenishing and collecting machine 2.
To move. In this case, the moving speed of the medium replenishing and collecting machine 2 is set to the low speed shown in FIG. This allows
The medium replenishment and recovery machine 2 moves toward the target ATM 1 at a slow speed, and when it reaches the target ATM 1, it is positioned on the back of the ATM 1. When an obstacle is detected by the lever sensor 9, the detection signals from the ultrasonic sensors 7 a, 7 b, and 7 c are invalidated. Sensors 7a, 7b, 7c
May remain valid.

If the user forgets to attach the adapter 22 or the like in the ATM 1, it is possible to detect the forgetting of the attachment in the ATM 1. However, if it is detected in the ATM 1, the medium replenishment and recovery machine 2 is stopped. The detection signal must be transmitted to the medium replenishment and recovery machine 2. Then, a cable for transmitting the detection signal is required. Further, if the detection signal is transmitted to the medium replenishing and collecting machine 2 after detecting the contact between the adapter 22 and the medium replenishing and collecting machine 2, a time delay occurs, and the adapter 22 or the medium replenishing and collecting machine 2
May be severely damaged. Such a problem is solved by detecting the contact on the side of the medium replenishing and collecting machine 2 as in this specific example.

<Operation of Light Emitting / Receiving Sensor> Next, a case where an obstacle is detected by the light emitting / receiving sensors 15a and 15b while the medium replenishing and collecting machine 2 is moving will be described. As an obstacle in this case, a maintenance door 17 provided on the back surface 1a of the ATM 1 can be considered. When a staff member performs maintenance work, the door 1
It is assumed that the medium replenishment and recovery machine 2 approaches the ATM 1 in a state where the user has forgotten to close the ATM 7. Light is output from the light emitting and receiving sensors 15a and 15b of the medium replenishing and collecting machine 2, and the light reaches the reflecting plate 18 on the door 17 via the slit plate 16, is reflected by the reflecting plate 18, and is again reflected by the slit plate 16. To the light emitting and receiving sensors 15a and 15b. As a result, it is confirmed that the door 17 is closed.
When the door 17 is open, the light passing through the slit plate 16 does not reach the reflection plate 18 as shown by a dotted line in FIG. If the light does not reach the reflecting plate 18, the light emitting and receiving sensors 15a, 15b
Cannot receive light, whereby the light emitting and receiving sensors 15a and 15b send a detection signal to the sensor circuit 54, and the sensor circuit 54 sends a detection signal to the control unit 51.

The position where the light emitting and receiving sensors 15a and 15b detect that the reflected light cannot be caught is immediately before the medium replenishment and recovery machine 2 collides with the door 17, and the medium replenishment and recovery machine 2 is traveling at a high speed. In this case, the control unit 51 issues a command to the self-propelled means 4 to perform an emergency stop. As a result, the medium replenishing and collecting machine 2 is stopped urgently, and the door 17 is moved to the medium replenishing and collecting machine 2.
So that it does not hit the housing. At this time, the wheels 5 and the rails 6 may slip due to the emergency stop of the medium replenishment and recovery machine 2, and the detection signal of the slit sensor 57 becomes unreliable. Invalidate. The control unit 51
Invalidates the detection signals from the ultrasonic sensors 7a, 7b, 7c. Further, the control unit 51 causes the display unit 3b of the centralized control unit 3 to display an alarm indicating that the door 17 is open.

Even when the medium replenishment / recovery machine 2 is running at a low speed, the control section 51 issues a command to the self-propelled means 4 to stop. As a result, the medium replenishment and recovery machine 2 stops, and the door 17
Does not hit the medium replenishment and recovery machine 2. Then, the control unit 51 causes the display unit 3b of the central control unit 3 to display an alarm indicating that the door 17 is open. When the door 17 is closed, the control unit 51 drives the self-propelled means 4 again to move the medium replenishing and collecting machine 2. However, in this case, the moving speed of the medium replenishment and recovery machine 2 is set to the low speed shown in FIG. Thereby, the medium replenishment and recovery machine 2
Moves to the target ATM 1 at the slow speed,
When it reaches 1, it is positioned on the back of ATM1.

<Bill Replenishment Operation> Next, the operation of replenishing bills from the medium replenishment and recovery machine 2 to the ATM 1 will be described mainly with reference to FIG.
FIG. 9 will be described. The banknote replenishment operation is performed by accurately positioning the medium replenishment and recovery machine 2 at a predetermined position of the ATM 1. First, the control unit 51 shown in FIG.
Excites the electromagnetic solenoid 56, connects the replenishment connection guide member 39 to the replenishment conveyance path 23 in the ATM 1,
The TM1 and the medium replenishment and recovery machine 2 are connected.

Next, the controller 51 controls the blade switch 37
The blades 38a to 38f are switched via. The ATM 1 that has received the bill replenishment operation start signal outputs a replenishment operation start response to the bill depositing / dispensing device 21, and the bill depositing / dispensing device 21 switches the internal mode to the replenishment mode and starts the replenishment operation. Here, the ATM 1 outputs a replenishment start signal to the control unit 51 of the medium replenishment and recovery machine 2. Medium replenishment and recovery machine 2
The control unit 51 drives the banknote transport system drive unit 53 to feed out the banknotes in the banknote storage vault 32 to the circulation transport path 33. Then, the bill recognition processing unit 34 performs authenticity discrimination and type recognition processing on the replenished bills fed out, and conveys bills usable as replenished bills to the ATM 1 side. In the ATM 1, the conveyed bills are stored in the safes 28, 29 for each type via the depositing / dispensing unit 27, respectively. When the sensors detect that the designated number of banknotes have been stored in the safes 28 and 29, the ATM 1 transmits a replenishment completion response.

The control unit 51 monitors the replenishment operation completion response from the ATM 1, and upon receiving this response, sends an electromagnetic solenoid 56 via the drive circuit 52.
Degauss. As a result, the replenishment connection guide member 39 is separated from the replenishment conveyance path 23 of the adapter 22, and the AT
The connection between M1 and the medium replenishment and recovery machine 2 is released. The central control unit 3 monitors whether a bill replenishment request signal or a bill collection request signal is output from another ATM 1, and replenishes the bill replenishment output from the ATM 1 in an area where the medium replenishment and collection machine 2 can move. If the request signal or the bill collection request signal is received, a signal to that effect is sent to the medium replenishing and collecting machine 2, and the medium replenishing and collecting machine 2 outputs the AT which has just finished the replenishing operation.
The movement from the position behind M1 to the ATM 1 that has output the bill replenishment request signal or the bill collection request signal is started.

If the medium replenishment and recovery machine 2 detects an obstacle by the touch sensor 8 or the lever sensor 9 during the movement before positioning the ATM 1 on which the replenishment operation has been performed previously, the medium replenishment and recovery machine 2 The running speed is the low speed shown in FIG. Further, the detection signals of the ultrasonic sensors 7a, 7b, 7c of the medium replenishment and recovery machine 2 are invalid. The control unit 51 of the medium replenishing and collecting machine 2 positions the medium replenishing and collecting machine 2 on the back surface of the ATM 1. If an obstacle is detected by the touch sensor 8 or the lever sensor 9 during the operation, an ultrasonic sensor is used. The detection signals of 7a, 7b and 7c are invalidated. Thereafter, the medium replenishing and recovering machine 2 is positioned at a low speed on the back of any of the ATMs 1 and, at the time of positioning, the detection signals of the ultrasonic sensors 7a, 7b, 7c are made valid again. When a bill replenishment request signal is output from another ATM 1, the medium replenishment and collection machine 2
Moves to the ATM 1 that outputs the request signal, is positioned behind the ATM 1, and performs the banknote replenishment operation as described above.

<Bill Collection Operation> Next, a case where a bill collection request signal is output from another ATM 1 will be described. The ATM 1 banknote pay-in / pay-out device 21 includes a safe 28, 2
It monitors whether the bill of 9 exceeds the set value,
When it is detected that the bill exceeds the set value, the ATM
1 transmits a bill collection request signal to the central control unit 3. In addition, even if a unit in the ATM 1 is in error, if the banknote depositing / dispensing device 21 is not in error, the ATM 1 transmits a banknote collection request signal and an ATM error signal to the central control unit 3.

Upon receiving the bill collection request, the centralized control unit 3 confirms that the bill storage box 32 of the medium replenishment and collection machine 2 can store the collected bills, and transmits a bill collection start signal to the ATM 1 and transmits the bill collection start signal to the ATM 1. The refill / recovery machine 2 is started to move. Further, the central control unit 3 transmits the bill collection request and the AT
When the M error signal is received, it is confirmed that the number of bills in the bill storage 32 of the medium replenishment and recovery machine 2 is smaller than the set value,
A bill collection start signal is transmitted to the ATM 1 and the medium replenishment and collection machine 2 is started to move. The control unit 51 of the medium replenishment and recovery machine 2 issues a movement start command to the self-propelled means 4, and the medium replenishment and recovery machine 2 starts moving toward the target ATM 1. During the movement, the ultrasonic sensor 7 of the medium replenishing and collecting machine 2
When an obstacle is detected by a, 7b, 7c, the touch sensor 8, the lever sensor 9, or the light emitting / receiving sensor 15a, 15b, as described above, the medium replenishment and recovery machine 2 is stopped, and the obstacle is removed. Later, or after the movement range is restricted, the user moves again to the target ATM 1.

When the medium replenishment and recovery machine 2 is positioned behind the target ATM 1, the control section 51
Is driven to excite the electromagnetic solenoid 56, the connection guide member 40 for collection is connected to the conveyance path 24 for collection of the adapter 22 of the ATM 1, and the ATM 1 and the medium replenishment / collection machine 2 are connected. The control unit 51 switches the blades 38a to 38f via the blade switching unit 37. The ATM 1 that has received the bill collection start signal outputs a collection operation start response to the bill depositing / dispensing device 21, and the bill depositing / dispensing device 21 switches the internal mode to the collecting mode and starts the collecting operation. Here, the ATM 1 is a control unit 51 of the medium replenishment and recovery machine 2.
And outputs a collection start signal.

The banknote is withdrawn from the safe 28 or 29 where the banknote exceeds the set value by the deposit / withdrawal unit 27, and the fed-out banknote is discriminated by the discriminating section 30 as to whether the banknote is true, false, type, type, or not.
The number of sheets and the like are discriminated, conveyed into the medium replenishing and collecting machine 2 via the collection conveyance path 24 and the collection connection guide member 40, and further taken into the banknote storage 32 via the collection branch conveyance path 36. When the ATM 1 has sent out a predetermined amount of collected bills, the ATM 1 transmits data to which a collection operation completion response is added to the control unit 51 of the medium replenishing and collecting machine 2. The control unit 51
The collection operation completion response from the ATM 1 is monitored. When this response is received, the electromagnetic solenoid 56 is demagnetized via the drive circuit 52, and the collection connection guide member 40 is separated from the collection conveyance path 24 of the adapter 22. , The connection between the ATM 1 and the medium replenishment and recovery machine 2 is released,
The collection operation is completed.

<Control by Centralized Controller> Centralized Controller 3
Monitors whether a bill replenishment request signal or a bill collection request signal is being output from another ATM 1, and outputs any one of the request signals output from the ATM 1 in an area where the medium replenishment and collection machine 2 can move. If received, a signal to that effect is sent to the medium replenishment and recovery machine 2, and the medium replenishment and recovery machine 2 starts moving from that position toward the ATM 1 that has output the bill replenishment request signal or the bill collection request signal. Further, since the central control unit 3 knows the position and the movable range of the medium replenishing and collecting machine 2, when approaching an area where the medium replenishing and collecting machine 2 cannot move, the central control unit 3 issues a signal to stop the medium replenishing and collecting machine 2. The command is sent to the control unit 51, and the control unit 51 issues a command to the self-propelled means 4 to gradually stop.

If the obstacle is detected by the touch sensor 8 or the lever sensor 9 during the movement before the medium replenishing and collecting machine 2 is positioned at the ATM 1 where the collecting operation has been performed, the traveling speed of the medium replenishing and collecting machine 2 Is slow,
The detection signals of the ultrasonic sensors 7a, 7b, 7c are invalidated. The control unit 51 of the medium replenishment and recovery machine 2 has an ATM
When the positioning of the ultrasonic sensor 7 is completed,
The detection signals a, 7b, and 7c are made valid, and the subsequent movement can be performed at a high speed. Therefore, when the medium replenishment and recovery machine 2 moves thereafter, the ultrasonic sensors 7a, 7b, 7c,
Touch sensor 8, lever sensor 9, and light emitting / receiving sensor 15
An obstacle can be detected by a and 15b.

When the medium replenishment and recovery machine 2 is moved, the ultrasonic sensors 7a, 7b, 7c,
Touch sensor 8, lever sensor 9, and light emitting / receiving sensor 15
The detection signals of the a and 15b may be valid, but the ultrasonic sensors 7a, 7b and 7c, the touch sensor 8,
It is also possible to make only the lever sensor 9 and the light emitting / receiving sensors 15a and 15b valid and invalidate the detection signals of these sensors on the opposite side. If only the traveling direction is valid, a staff member can approach the ATM 1 and perform maintenance on the opposite side of the traveling direction.

In this embodiment, for example, an obstacle located at a distance of about 1 m or more from the medium replenishing and collecting machine 2 is not detected. Does not stop the medium replenishment and recovery machine 2. Further, in the above specific example, when there is a possibility that the detection signal of the slit sensor 57 cannot be trusted due to the emergency stop, the detection signal is invalidated. However, the detection signal itself is not invalidated, and the position information calculated from the detection signal is used. You may make it invalid.

[Brief description of the drawings]

FIG. 1 is a main part of an automatic machine group management system of the present invention.

FIG. 2 is a perspective view showing an external view of an automatic machine group management system of a specific example.

FIG. 3 is an explanatory diagram showing a detection range of an ultrasonic sensor.

FIG. 4 is an explanatory diagram showing a detection range of an ultrasonic sensor.

FIG. 5 is an explanatory diagram showing a structure of a lever sensor.

FIG. 6 is a plan view showing a light emitting and receiving sensor.

FIG. 7 is an internal structural diagram showing the inside of the ATM and the medium replenishment and recovery machine.

FIG. 8 is a block diagram illustrating a group management system according to a specific example.

FIG. 9 is a block diagram showing a medium replenishing and collecting machine.

FIG. 10 is a flowchart of a movement range limiting operation of the medium replenishing and collecting machine.

FIG. 11 is a time chart showing speed control of the medium replenishment and recovery machine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ATM 2 Medium replenishment and recovery machine 3 Central control part 7a, 7b, 7c Ultrasonic sensor 8 Touch sensor 9 Lever sensor 15a, 15b Light emitting / receiving sensor 51 Control part 61 Reduction key 62 Automatic key 63 Manual key 64 Release key 65 Restart key 66 Range setting key 67 Movable range setting unit 68 Movable range storage unit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G07D 9/00 G06F 19/00

Claims (2)

(57) [Claims] 1. A medium replenishment and recovery machine that travels between a plurality of automatic transaction devices and replenishes and recovers a medium for each of the automatic transaction devices, a central control unit that controls the travel of the medium replenishment and collection device, a non-contact type sensor that detects an obstacle spaced in the traveling direction provided on the medium supplemented harvester protrudes into said medium supplemented harvester obstacle during running
A contact-type sensor that detects the contact, the centralized control unit receives the detection signal from the contact-type sensor and stops the medium replenishment and recovery machine urgently, after removing the obstacle, the When the medium replenishment and recovery machine is driven at a low speed to a predetermined automatic transaction device, the detection signal from the non-contact type sensor is received, and the medium replenishment and recovery machine is slowed down, the medium replenishment and recovery are performed after the obstacle is removed. An automatic machine group management system characterized by running a collection machine at a high speed to a predetermined automatic transaction device. 2. The system according to claim 1 , wherein said centralized control section, upon receiving a detection signal from one of said sensors, sets a travel range of said medium replenishment and recovery machine up to a vicinity of the detected obstacle. Automatic machine group management system as described.