JP6908673B2 - Automatic banknote handling system and automatic banknote handling method - Google Patents

Description

The present invention relates to a technique for an automatic banknote handling system that transports and organizes banknotes.

Conventionally, an automatic banknote handling system for transporting and organizing banknotes has been known. For example, Japanese Patent Application Laid-Open No. 62-92095 (Patent Document 1) discloses an articulated robot embedded cash processing apparatus. According to Patent Document 1, a bill insertion assortment unit having a mechanism for collecting inserted bills and handing them to a robot hand, and a bill counting bill confirmation unit having a mechanism for separating bills from the robot hand into the number and type of received bills. , A cash cassette unit consisting of a mechanism for storing banknotes from the robot hand and a mechanism for withdrawing banknotes from this unit and delivering them to the robot hand, a banknote counter unit that checks the number of banknotes to be picked up and delivers them to the robot, and from the robot Provided is an articulated robot-embedded cash processing device having a mechanism for picking up banknotes, a banknote payout unit for sending banknotes to a payout port, and a mechanism for transferring banknotes by equipping each unit with an articulated robot. NS.

Japanese Unexamined Patent Publication No. 2016-31619 (Patent Document 2) discloses a storage work device, a valuable medium storage system, and a storage work method. According to Patent Document 2, the working robot captures the appearance of the cassette with a camera provided on the head and identifies the type of the cassette by image processing. The working robot opens the cassette with a jig and a procedure according to the type of the cassette, images the inside of the cassette, and detects an abnormality by image processing. In addition, the work robot takes an image of the banknote organizer, identifies the banknotes that can be taken out by image processing, takes out the banknotes from the banknote organizer, stores them in a cassette, and sets the cassette with a jig and procedure according to the type of cassette. close up.

Japanese Unexamined Patent Publication No. 2016-224664 (Patent Document 3) discloses a valuable medium processing system and a valuable medium processing method. According to Patent Document 3, in the bill processing system, the working robot holds the bundle of banknotes bound by the strap and moves it to a position where the strap can be removed by the bundle opening unit, and the bundle opening unit cuts the strap of the bill bundle. After that, the working robot stores the banknote bundle in the cassette, so that the banded banknote bundle can be used to replenish the banknotes in the cassette, and the banknotes can be efficiently stored in the cassette. can.

Japanese Unexamined Patent Publication No. 62-92095 Japanese Unexamined Patent Publication No. 2016-31619 Japanese Unexamined Patent Publication No. 2016-224664

An object of the present invention is to provide an easy-to-use automatic banknote handling system.

According to an aspect of the present invention, a first arm having a key and a second arm having a photographing unit are provided, and the position of the keyhole is determined based on the image data of the banknote storage container photographed by the second arm. An automatic banknote handling system is provided that identifies, controls the first arm, moves the key into the keyhole, inserts it, and unlocks it.

As described above, according to the present invention, an easy-to-use automatic banknote handling system is provided.

It is a top view of the automatic banknote handling system 1 which concerns on this embodiment. It is a front view of the automatic banknote handling system 1 which concerns on this embodiment. It is a functional block diagram of the automatic banknote handling system 1 which concerns on this embodiment. It is a flowchart which shows the processing procedure of the automatic banknote handling system 1 which concerns on this embodiment. It is a perspective view of the banknote containment vessel 10 which shows the state which the lid 11 is opened which concerns on this embodiment. This is a modified example of the functional block diagram of the automatic banknote handling system 1.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are designated by the same reference numerals. Their names and functions are the same. Therefore, the detailed description of them will not be repeated.
[First Embodiment]
<Overall configuration of automatic banknote handling system 1>

As shown in FIGS. 1 to 3, the automatic banknote handling system 1 according to the present embodiment mainly includes a control device 100, a transport device 200, a first arm 300, and a second arm 400. It has a bill organizing device 500, a bill sorting device 600, a third arm 700, a banding device 800, and a storage box 900. In the present embodiment, the transport device 200, the first arm 300, the second arm 400, the bill organizing device 500, the bill organizing device 600, the third arm 700, and the banding device The 800 and the storage box 900 are placed on the upper part of the table 50, and the control device 100 is stored under the table 50.

The control device 100 includes a memory 120 for storing various programs and data, and each part of the automatic bill handling system 1, that is, a transport device 200, a first arm 300, a second arm 400, and a bill sorting device 500. The third arm 700, the communication interface 160 that exchanges data with the banding device 800, and the control device 100 are controlled according to a program, and each part of the automatic bill handling system 1 is controlled via the communication interface 160. It is equipped with a CPU 110 or the like for the purpose of using the data.

In the automatic banknote handling system 1, the elements related to the transportation, unlocking, unlocking, and taking out of banknotes of the banknote containment vessel 10 are collectively referred to as the banknote containment vessel handling system 2 or the unlocking system 2).
<Outline of operation of automatic banknote handling system 1>

Hereinafter, the operation of the automatic banknote handling system 1 according to the present embodiment will be described with reference to FIGS. 1 to 4.

The transport device 200 transports the bill storage container 10 (see FIG. 5) based on the command from the control device 100 (step S102). The transport device 200 transports the bill storage container 10 brought in from the outside of the room in which the automatic bill handling system 1 is arranged to the vicinity of the first arm 300. In the present embodiment, the transfer device 200 includes a first transfer conveyor 201, a second transfer conveyor 202, a reversing device 210, an RFID antenna 220, and a transfer device 230.

The control device 100 identifies the surface having the keyhole 12, that is, the surface on the lid 11 side based on the data from the RFID antenna 220 (step S104). Although the details will be described later, in the present embodiment, the RFID tag is attached to the surface of the bill containment vessel 10 that does not have the keyhole 12. When the RFID antenna 220 detects the RFID tag, the control device 100 determines that the lid 11 and the keyhole 12 are on the opposite surfaces based on the signal from the RFID antenna 220, and determines that the bill storage container 10 is as it is. Is delivered to the transfer device 230.

In the present embodiment, the transfer device 230 is composed of sliders 231 and 232 and the like, and transfers the bill storage container 10 from the first conveyor 201 to the second conveyor 202.

On the other hand, based on the signal from the RFID antenna 220, the control device 100 determines that the lid 11 and the key hole 12 are on the surface on the RFID antenna 220 side when the RFID antenna 220 does not detect the RFID. The bill storage container 10 is rotated by using the reversing device 210 so that the surface is on the side of the first arm 300 (step S106). Then, the control device 100 delivers the rotated bill storage container 10 to the second conveyor 202.

The first arm 300 has a key 310 for unlocking the lid 11 of the banknote containment vessel 10. As will be described later, the first arm 300 moves the key 310 in the bill storage container 10 by moving the position of the key 310 back and forth, left and right, up and down, and rotating the key 310 based on a command from the control device 100. Insert it into the keyhole 12 of. The first arm 300 unlocks the banknote containment vessel 10 by rotating the key 310 based on a command from the control device 100, and opens the lid 11 as it is. More specifically, the control device 100 corrects the rotation angle of the key 310 (rotates the arm) using the data of the vertical position of the keyhole 12 and the data of the rotation angle of the keyhole 12 obtained from the camera, and then corrects the rotation angle of the key 310 (rotates the arm), and then the keyhole. The first arm 300 is moved to the 12 position.

The second arm 400 has a grip portion 410 for gripping banknotes. The second arm 400 moves the grip portion 410 back and forth, left, right, up and down based on a command from the control device 100 to grab the banknote in the banknote containment vessel 10, take out the banknote, and pick up the banknote. It is placed on the tidying device 500.

The control device 100 controls the first arm 300 to lock the bill containment vessel 10. The control device 100 controls the second conveyor 202 of the transport device 200 to transport the empty banknote containment vessel 10 out of the room.

Although the details will be described later, in the present embodiment, the camera 420 is attached to the second arm 400 in the vicinity of the grip portion 410. Then, the following control is executed. That is, the control device 100 uses the transport device 200 to move the banknote containment vessel 10 to the front side of the front surface of the first arm 300. The control device 100 photographs the front surface of the banknote containment vessel 10 with the camera 420 of the second arm 400 (step S108). The control device 100 identifies the position of the keyhole 12 based on the image data (step S110). The control device 100 controls the first arm 300 to move the key 310 to the keyhole 12 and insert it. The control device 100 controls the first arm 300 to rotate the key 310 (step S112). The control device 100 controls the first arm 300 to open the lid of the banknote containment vessel 10 (step S114). The control device 100 controls the second arm 400 to put the grip portion 410 into the bill containment vessel 10. The control device 100 controls the second arm 400 and sandwiches the bill in the grip portion 410. The control device 100 controls the second arm 400 to withdraw the banknote (step S116). The control device 100 controls the second arm 400 to rotate the grip portion 410 by 90 degrees to make the bills vertical. The control device 100 controls the second arm 400 to place the banknotes on the banknote ordering device 500.

The banknote ordering device 500 organizes banknotes based on a command from the control device 100. That is, the bill ordering device 500 aligns the positions of the ends of the bundle of bills (step S118). More specifically, in the present embodiment, the banknote arranging device 500 is supported by a plate from the side so that the banknotes do not fall when the vertically erected banknotes are placed by the second arm 400. do. Then, the bill organizing device 500 aligns the lower surface and the side surface of the vertically erected bill by vibrating the bill with a vibrator (not shown). In the present embodiment, the bill organizing device 500 can align the upper surface of the bills by pressing the bills from above with a plate while vibrating.

The control device 100 controls the second arm 400, which has been waiting during the ordering of banknotes, and re-grasps the arranged banknotes. The control device 100 controls the second arm 400 to place the organized banknotes in the slot of the banknote sorting device 600. In the present embodiment, the control device 100 controls the second arm 400 and pushes the bill placed in the insertion slot into the back by the tip of the grip portion 410. The banknote sorting device 600 determines each type of banknotes delivered from the second arm 400, and stores the banknotes separately for each type (step S120).

In the present embodiment, the banknote sorting device 600 may reject the banknotes that have failed to be sorted. When the banknote sorting device 600 rejects the banknotes (YES in step S122), the control device 100 controls the third arm 700 to grab the banknotes rejected by the grip portion 710. The control device 100 controls the second arm 400 and receives the bills rejected from the third arm 700 by the grip portion 410. Then, the control device 100 places the bill again in the slot of the bill sorting device 600 (step S120).

In the present embodiment, when the banknotes are arranged, the banknote organizing device 600 displays the number of arranged and stored banknotes for each type of banknote. The bill sorting device 600 stops sorting when a predetermined number of bills, for example, 100 bills, are accumulated for each ticket type. In the present embodiment, the camera is also mounted on the third arm 700, and the control device 100 acquires the number of banknotes arranged for each ticket type from the image taken by the camera. When the number of arranged banknotes of any of the ticket types reaches a predetermined number, the control device 100 controls the third arm 700, grasps the banknotes by the grip portion 710, and receives the banknotes by the banding device 800. hand over. It is preferable that the banknotes are arranged again by the banknote organizing device 500 before being handed over to the banding device 800.

The banding device 800 winds a band around a bundle of a predetermined number of banknotes (step S124). The control device 100 controls the third arm 700 to grab the banknote wrapped in the band and put it into the storage box 900. In the present embodiment, the storage box 900 is divided for each ticket type, and the control device 100 controls the third arm 700 to handle the banknotes around which the band is wrapped according to the ticket type. It is put into the storage box 900 (step S126).

As described above, in the automatic banknote handling system 1 of the present embodiment, the stored banknotes of a plurality of types of banknotes are automatically and predetermined for each banknote type from the state of the locked banknote storage container 10. Since it can be converted into a bundle of banded banknotes for each number of sheets, it is possible to handle banknotes more safely and conveniently than before.

In the above embodiment, the third arm 700 mounts a camera, and the control device 100 determines whether or not a predetermined number of banknotes have been accumulated for each ticket type based on the image from the camera. there were. However, the banknote sorting device 600 may transmit data on the number of banknotes that have been sorted for each ticket type and a notification that a predetermined number of banknotes have been collected to the control device 100. In this case, the third arm 700 does not have to have a camera.

Further, in the above embodiment, the automatic banknote handling system 1 is equipped with a first arm 300 having a key 310 and a second arm 400 having a camera 420. However, the second arm 400 may have a key, or the first arm 300 may have a grip 410 for gripping banknotes.

Not limited to the configuration of the above embodiment, the role of each device may be shared by another device, the role of one device may be shared by a plurality of devices, or the roles of a plurality of devices may be shared. It may be carried by one device. For example, as shown in FIG. 6, the role of the control device 100 may be played by the controller of the first arm 300 or the second arm 400. Then, the processing of the control device 100 may be executed by the CPU or memory of the camera 420, or by a controller such as the first arm 300.
[summary]

In the above embodiment, the transfer device 200 for transporting the banknote storage container 10 in which the banknotes are stored and the first for unlocking the key of the banknote storage container 10 and opening the lid 11 of the banknote storage container 10. 1 arm 300, a bill sorting device 500 for sorting bills, a bill sorting device 600 for sorting bills placed on a slot for each type, and a bill stored in a bill storage container 10 are taken out. A second arm 400 for placing the banknotes on the banknote sorting device 500 and placing the banknotes after the banknotes on the insertion section of the banknote sorting device 600, and a banding device 800 for winding a band around the banknotes. An automatic banknote provided with a third arm 700 for delivering a predetermined number of separately divided banknotes to the banding device 800, taking out a bundle of banded banknotes from the banding device 800, and placing the banded banknotes in a predetermined place. The handling system 1 is provided.

Preferably, the automatic banknote handling system 1 further comprises a control device 100 for controlling at least the second arm 400 and the third arm 700. The control device 100 obtains the banknotes that have failed to be sorted from the bill sorting device 600 by controlling the third arm 700, delivers the bills to the second arm 400, and controls the second arm 400 to control the bills. Is placed again in the insertion section of the bill sorting device 600.

In the above embodiment, an automatic banknote handling method by the automatic banknote handling system 1 is provided. The method includes a step of transporting a bill storage container 10 in which bills are stored, a step of unlocking the key of the bill storage container 10, a step of opening the lid of the bill storage container 10, and a step of being stored in the bill storage container 10. It includes a step of taking out the banknotes, a step of organizing the banknotes, a step of separating the banknotes by type, and a step of wrapping a band around the banknotes classified by type.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1: System 10: Banknote containment vessel 11: Lid 50: Stand 100: Control device 110: CPU
120: Memory 160: Communication interface 200: Transfer device 201: First transfer path 202: Second transfer path 210: Turntable 220: Detection unit 300: First arm 310: Key 400: Second arm 410: Grip 420: Camera 500: Banknote organizer 600: Banknote organizer 700: Third arm 710: Grip 800: Banding device 900: Storage box

Claims (4)

The first arm with the key and
A second arm having a photographing unit and
The position of the keyhole is specified based on the image data of the banknote containment vessel taken by the second arm, and the first arm is controlled to move the key to the keyhole, insert it, and unlock it .
The second arm
Has a grip
An automatic bill handling system that takes out bills in the bill containment vessel by the grip portion. The first arm with the key and
A second arm having a photographing unit and
The position of the keyhole is specified based on the image data of the banknote containment vessel taken by the second arm, and the first arm is controlled to move the key to the keyhole, insert it, and unlock it .
The first arm is an automatic bill handling system that opens the lid of the bill storage container after unlocking the bill storage container. It is an automatic banknote handling method by an automatic banknote handling system.
The step in which the transport device transports the bill containment vessel in which the bills are stored,
A step in which the second arm photographs the banknote containment vessel by the photographing unit,
A step in which the control device identifies the position of the keyhole based on the image data of the banknote containment vessel taken by the second arm.
The step that the first arm moves the key into the keyhole, inserts it, and unlocks it.
An automatic bill handling method comprising a step in which the second arm grabs and takes out bills in the bill containment vessel by a gripping portion. It is an automatic banknote handling method by an automatic banknote handling system.
The step in which the transport device transports the bill containment vessel in which the bills are stored,
A step in which the second arm photographs the banknote containment vessel by the photographing unit,
A step in which the control device identifies the position of the keyhole based on the image data of the banknote containment vessel taken by the second arm.
The first arm moves the key into the keyhole, inserts it, and unlocks it.
An automatic bill handling method comprising a step of opening the lid of the bill storage container by the first arm after unlocking the bill storage container.

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