Automatic banknote handling system
By designing an automatic banknote processing system, using conveying, sorting and bundling devices, the problems of high complexity and inconvenience in existing systems are solved, efficient and safe banknote processing is achieved, and the convenience of sorting and bundling is improved.
Patent Information
- Application Number
- CN202211184936.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Priority Date
- 2018-05-22
- Filing Date
- 2019-04-16
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2039-04-16
AI Technical Summary
The existing automatic banknote processing system has problems such as high complexity, inconvenient operation and low banknote sorting efficiency in use.
An automatic banknote processing system is designed, including a conveying device, a first arm for unlocking and opening a banknote storage container, a banknote neat device, a banknote sorting device, a second arm for taking out and sorting paper notes, and a bundling device for bundling paper notes. And the third arm is used to transfer the sorted banknotes to the bundling and packaging device, and the workflow of each part is coordinated through the control device.
An easy-to-use automatic banknote processing system is realized, which can handle multiple banknote types safely and efficiently, automatically organize and tie them into predetermined pieces of banknote stacks, improving the security and convenience of banknote processing.
Smart Images
Figure CN115394006B_ABST
Abstract
Description
[0001] This application is a divisional application of the Chinese patent application with the application number 201980008516.1, the application date of April 16, 2019, and the invention name of “Automatic Banknote Processing System”. Technical Field
[0002] The present invention relates to the technology of an automatic banknote processing system for conveying or arranging banknotes. Background Art
[0003] In the past, an automatic banknote processing system for conveying and sorting banknotes was known. For example, in Japanese Patent Publication No. 62-92095 (Patent Document 1), an articulated robot embedded cash processing device is disclosed. According to Patent Document 1, an articulated robot embedded cash processing device is provided, including: a banknote input alignment unit, having a mechanism for aligning the banknotes input and transferring them to a manipulator; a banknote counting and banknote confirmation unit, having a mechanism for receiving banknotes from a manipulator and dividing them according to the number and type of banknotes; a cash box unit, having a mechanism for storing banknotes from a manipulator and a mechanism for drawing out banknotes from the unit, and composed of a mechanism for transferring the banknotes to the manipulator; a banknote counting unit, for extracting banknotes and checking the number of banknotes, and transferring the banknotes to a robot; a banknote disbursement unit, for delivering banknotes to a mechanism for extracting banknotes from a robot and a disbursement port; and a mechanism for equipping each unit with a multi-joint robot to transfer banknotes.
[0004] In Japanese Patent Publication No. 2016-31619 (Patent Document 2), a storage working device, a valuable medium storage system, and a storage working method are disclosed. According to Patent Document 2, a working robot uses a camera set on the head to photograph the appearance of a box, and identifies the type of the box through image processing. The working robot uses a clamp and steps corresponding to the type of the box to open the box, and photographs the inside of the box to detect abnormalities through image processing. In addition, the working robot photographs a banknote sorting machine, identifies removable banknotes through image processing, takes out banknotes from the banknote sorting machine and stores them in a box, and then closes the box using a clamp and steps corresponding to the type of the box.
[0005] Japanese Patent Application 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 banknote processing system, a working robot holds a bundle of banknotes that ends in a bundle and moves it to a position where the bundle can be removed by a bundle unpacking unit, and the bundle of the banknotes is cut and removed by the bundle unpacking unit, and then the working robot stores the banknotes in a box, so that the bundle of banknotes can be used to replenish the box with banknotes, and the banknotes can be stored in the box efficiently.
[0006] Prior art literature
[0007] Patent Literature
[0008] Patent Document 1: Japanese Patent Application Laid-Open No. 62-92095
[0009] Patent Document 2: Japanese Patent Application Publication No. 2016-31619
[0010] Patent document 3: Japanese Patent Application Publication No. 2016-224664. Summary of the invention
[0011] Problems to be solved by the invention
[0012] An object of the present invention is to provide an automatic banknote processing system which is easy to use.
[0013] Technical solutions to problems
[0014] According to certain aspects of the present invention, there is provided an automatic banknote processing system, comprising: a conveying device for conveying a banknote storage container for storing banknotes; a first arm for unlocking a lock of the banknote storage container and opening a cover of the banknote storage container; a banknote aligning device for aligning the banknotes; a banknote sorting device for sorting the banknotes placed in an input section according to their types; a second arm for taking out the banknotes stored in the banknote storage container and placing them on the banknote aligning device, and placing the sorted banknotes into the input section of the banknote sorting device; a bundling device for winding a belt around the banknotes; and a third arm for conveying a predetermined number of banknotes sorted by type to the bundling device, and taking out the bundled and packaged banknote stacks from the bundling and packaging device and placing them in a predetermined place.
[0015] Effects of the Invention
[0016] As described above, according to the present invention, there is provided an automatic banknote processing system which is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a top view of the automatic banknote handling system 1 of this embodiment.
[0018] Figure 2 It is a front view of the automatic banknote handling system 1 of this embodiment.
[0019] Figure 3 This is a functional block diagram of the automatic banknote handling system 1 according to this embodiment.
[0020] Figure 4 This is a flowchart showing the processing procedure of the automatic banknote processing system 1 according to the present embodiment.
[0021] Figure 5 This is a perspective view showing a state in which the lid 11 of the banknote storage container 10 according to the present embodiment is opened.
[0022] Figure 6 This is a modified example of the functional block diagram of the automatic banknote handling system 1 . DETAILED DESCRIPTION
[0023] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, the same components are represented by the same symbols, and their names and functions are also the same, so their detailed description will be omitted.
[0024] [First embodiment]
[0025] <Overall Configuration of Automatic Banknote Processing System 1>
[0026] like Figures 1 to 3 As shown, the automatic banknote processing system 1 of the present embodiment mainly comprises a control device 100, a conveying device 200, a first arm 300, a second arm 400, a banknote aligning device 500, a banknote sorting device 600, a third arm 700, a bundling device 800, and a storage box 900. It should be noted that, in the present embodiment, the conveying device 200, the first arm 300, the second arm 400, the banknote aligning device 500, the banknote sorting device 600, the third arm 700, the bundling device 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.
[0027] The control device 100 includes: a memory 120 for storing various programs and data; a communication interface 160 for exchanging data with various parts of the automatic banknote processing system 1, namely, the conveying device 200, the first arm 300, the second arm 400, the banknote tidying device 500, the third arm 700, the bundling device 800, etc.; and a CPU 110 for controlling the control device 100 according to the program, or controlling various parts of the automatic banknote processing system 1 via the communication interface 160.
[0028] It should be noted that, in the automatic banknote handling system 1 , elements related to conveying, unlocking, opening of the banknote storage container 10 , and taking out of banknotes may also be collectively referred to as a banknote storage container handling system 2 or an unlocking system 2 .
[0029] <Overview of Operation of Automatic Banknote Handling System 1>
[0030] Below, refer to Figures 1 to 4 , the operation of the automatic banknote processing system 1 of this embodiment will be described.
[0031] The transport device 200 transports the banknote storage container 10 (see Figure 5 )(Step S102). The transport device 200 transports the banknote storage container 10 brought in from the outside where the automatic banknote processing system 1 is configured to the vicinity of the first arm 300. In this embodiment, the transport device 200 has a first conveyor 201, a second conveyor 202, a reversing device 210, an RFID antenna 220 and a transfer device 230.
[0032] The control device 100 determines the face having the key hole 12, that is, the face on the cover 11 side, based on the data from the RFID antenna 220 (step S104). In the present embodiment, an RFID tag is mounted on the face of the banknote storage container 10 that does not have the key hole 12, and the details will be described later. When the RFID antenna 220 detects the RFID tag, the control device 100 determines that the cover 11 and the key hole 12 exist on the face on the opposite side based on the signal from the RFID antenna 220, and directly transfers the banknote storage container 10 to the transfer device 230.
[0033] In the present embodiment, the transfer device 230 is composed of sliders 231 , 232 , etc., and transfers the banknote storage container 10 from the first conveyor 201 to the second conveyor 202 .
[0034] On the other hand, when the RFID antenna 220 does not detect the RFID, the control device 100 determines that the cover 11 and the key hole 12 exist on the surface on the RFID antenna 220 side based on the signal from the RFID antenna 220, and uses the reversing device 210 to rotate the banknote storage container 10 so that the surface is located on the first arm 300 side (step S106). Then, the control device 100 transfers the rotated banknote storage container 10 to the second conveyor 202.
[0035] The first arm 300 has a key 310 for unlocking the cover 11 of the banknote storage container 10. As will be described later, the first arm 300 inserts the key 310 into the keyhole 12 of the banknote storage container 10 by moving the position of the key 310 in the front-rear, left-right, and up-down directions or rotating the key 310 based on an instruction from the control device 100. The first arm 300 unlocks the banknote storage container 10 by rotating the key 310 based on an instruction from the control device 100, and directly opens the cover 11. In more detail, the control device 100 corrects the rotation angle of the key 310 (rotates the arm) using the data of the up-and-down position of the keyhole 12 and the data of the rotation angle of the keyhole 12 obtained from the camera, and then moves the first arm 300 to the position of the keyhole 12.
[0036] The second arm 400 has a holding portion 410 for grabbing banknotes. The second arm 400 grabs banknotes in the banknote storage container 10 by moving the holding portion 410 in the front-back, left-right, and up-down directions based on the command from the control device 100, takes out the banknotes, or places the banknotes on the banknote aligning device 500.
[0037] The control device 100 controls the first arm 300 to lock the banknote storage container 10. The control device 100 controls the second conveyor 202 of the conveying device 200 to convey the empty banknote storage container 10 to the outside.
[0038] In the present embodiment, a camera 420 is installed near the holding portion 410 of the second arm 400, and the details will be described later. Then, the following control is performed. That is, the control device 100 uses the conveying device 200 to move the banknote storage container 10 in front of the front surface of the first arm 300. The control device 100 uses the camera 420 of the second arm 400 to photograph the front surface of the banknote storage container 10 (step S108). The control device 100 determines the position of the keyhole 12 based on the image data (step S110). The control device 100 controls the first arm 300 to move and insert the key 310 into the keyhole 12. The control device 100 controls the first arm 300 to turn the key 310 (step S112). The control device 100 controls the first arm 300 to open the cover of the banknote storage container 10 (step S114). The control device 100 controls the second arm 400 to extend the holding portion 410 into the banknote storage container 10. The control device 100 controls the second arm 400 to clamp the banknote with the holding portion 410. The control device 100 controls the second arm 400 to extract the banknote (step S116). The control device 100 controls the second arm 400 to rotate the holding portion 410 by 90 degrees and make the banknote vertical. The control device 100 controls the second arm 400 to place the banknote on the banknote aligning device 500.
[0039] The banknote aligning device 500 aligns the banknotes based on the instructions from the control device 100. That is, the banknote aligning device 500 aligns the positions of the ends of the banknote stack (step S118). More specifically, in this embodiment, the banknote aligning device 500 supports the banknotes from the side using a plate so that the banknotes will not fall when the vertically erected banknotes are placed by the second arm 400. Then, the banknote aligning device 500 applies vibration to the banknotes using a vibrator not shown in the figure, so that the bottom surface and the side surface of the vertically erected banknotes are aligned. In this embodiment, the banknote aligning device 500 can also align the top surface of the banknotes by pressing the plate from above while vibrating.
[0040] The control device 100 controls the second arm 400 that has been waiting during the process of aligning the banknotes to grab the aligned banknotes again. The control device 100 controls the second arm 400 to place the aligned banknotes in the input port of the banknote arranging device 600. In the present embodiment, the control device 100 controls the second arm 400 to push the banknotes placed in the input port into the inner side through the front end of the holding portion 410. The banknote arranging device 600 distinguishes each banknote type of the banknotes conveyed from the second arm 400, and stores each banknote type separately (step S120).
[0041] In this embodiment, the banknote sorting device 600 can reject banknotes that have failed to be sorted. When the banknote sorting device 600 rejects a banknote ("Yes" in step S122), the control device 100 controls the third arm 700 to grab the rejected banknote through the holding portion 710. The control device 100 controls the second arm 400 to receive the rejected banknote from the third arm 700 through the holding portion 410. Then, the control device 100 places the banknote in the input port of the banknote sorting device 600 again (step S120).
[0042] In the present embodiment, the banknote sorting device 600 displays the number of sorted and stored banknotes for each type of banknotes when sorting the banknotes. When a predetermined number of banknotes of each type of banknotes, for example, 100 banknotes, are accumulated, the banknote sorting device 600 stops sorting. In the present embodiment, a camera is also mounted on the third arm 700, and the control device 100 obtains the number of sorted banknotes of each type of banknotes from the image captured by the camera. When the number of sorted banknotes of a certain type of banknotes reaches a predetermined number, the third control device 100 controls the arm 700 to grab the banknotes through the holding portion 710 and transfer the banknotes to the bundling device 800. It should be noted that before the banknotes are transferred to the bundling device 800, the banknotes are preferably aligned again by the banknote aligning device 500.
[0043] The strapping device 800 wraps the tape around a predetermined number of banknotes (step S124). The control device 100 controls the third arm 700 to grab the banknotes wrapped with the tape and put the banknotes into the storage box 900. In this embodiment, the storage box 900 is divided for each banknote type, and the control device 100 controls the third arm 700 to put the banknotes wrapped with the tape into the corresponding storage box 900 according to their banknote types (step S126).
[0044] As described above, in the automatic banknote processing system 1 of the present embodiment, banknotes of multiple types stored can be automatically converted into bundled and packaged banknotes of each type and a predetermined number of banknotes in a locked state of the banknote storage container 10, so that banknotes can be processed more safely and conveniently than before.
[0045] It should be noted that in the above embodiment, the third arm 700 is equipped with a camera, and the control device 100 determines whether a predetermined number of banknotes of each banknote type has been accumulated based on the image from the camera. However, the banknote sorting device 600 may send the number of sorted banknotes of each banknote type and a notification that the predetermined number of banknotes has been accumulated to the control device 100. In this case, the third arm 700 may not have a camera.
[0046] In the above embodiment, the automatic banknote handling system 1 is equipped with the first arm 300 having the key 310 and the second arm 400 having the camera 420. However, the second arm 400 may have the key or the first arm 300 may have the holding unit 410 for grabbing banknotes.
[0047] Without being limited to the configuration of the above-described embodiment, the role of each device may be assumed by another device, the role of one device may be assumed by multiple devices, or the role of multiple devices may be assumed by one device. Figure 6 As shown, the role of the control device 100 may be assumed by the controllers of the first arm 300 and the second arm 400. Then, the processing of the control device 100 may be performed by the CPU and memory of the camera 420, or may be performed by the controller of the first arm 300 or the like.
[0048] [Summarize]
[0049] In the above embodiment, an automatic banknote processing system 1 is provided, including: a conveying device 200 for conveying a banknote storage container 10 for storing banknotes; a first arm 300 for unlocking the lock of the banknote storage container 10 and opening the cover 11 of the banknote storage container 10; a banknote aligning device 500 for aligning banknotes; a banknote sorting device 600 for sorting banknotes placed in an input part according to type; a second arm 400 for taking out banknotes stored in the banknote storage container 10 and placing them on the banknote aligning device 500, and placing the sorted banknotes into the input part of the banknote sorting device 600; a bundling device 800 for winding a belt around banknotes; and a third arm 700 for conveying a predetermined number of banknotes divided by type to the bundling device 800, and taking out the bundled and packaged banknote stacks from the bundling device 800 and placing them in a predetermined place.
[0050] Preferably, the automatic banknote processing 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 controls the third arm 700 to obtain banknotes that have failed to be sorted from the banknote sorting device 600 and transfers them to the second arm 400, and controls the second arm 400 to place the banknotes again into the input portion of the banknote sorting device 600.
[0051] In the above embodiment, there is provided an automatic banknote processing method for the automatic banknote processing system 1. The method includes: a step of conveying a banknote storage container 10 storing banknotes; a step of unlocking a lock of the banknote storage container 10; a step of opening a cover of the banknote storage container 10; a step of taking out banknotes stored in the banknote storage container 10; a step of arranging banknotes; a step of sorting banknotes by type; and a step of winding a tape around the banknotes sorted by type.
[0052] The embodiments of the present invention should be considered in all aspects as illustrative rather than restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include all modifications within the equivalent meaning and scope of the claims.
[0053] Description of Reference Numerals
[0054] 1: System
[0055] 10: Banknote storage container
[0056] 11: Cover
[0057] 50: Taiwan
[0058] 100: Control device
[0059] 110: CPU
[0060] 120: Memory
[0061] 160: Communication interface
[0062] 200: Conveying device
[0063] 201: First conveying path
[0064] 202: Second conveying path
[0065] 210: Rotating table
[0066] 220: Inspection Department
[0067] 300: First Arm
[0068] 310: Key
[0069] 400: Second Arm
[0070] 410: Maintenance
[0071] 420: Camera
[0072] 500: Banknote tidying device
[0073] 600: Banknote sorting device
[0074] 700: Third Arm
[0075] 710: Maintenance Department
[0076] 800: Strapping device
[0077] 900: Storage box
Claims
1. An automatic banknote processing system, wherein: include: A conveying device, used for conveying a banknote storage container in which banknotes are stored; A first arm having a key; a second arm having a camera portion; Control devices; Banknote tidying device; Banknote sorting device; Strapping device; as well as The third arm, The banknote storage container is provided with an RFID tag. The conveying device includes: a first conveyor, a second conveyor, a reversing device, an RFID antenna for detecting the RFID tag, and a transfer device. The control device determines the face of the banknote storage container having the keyhole based on the detection result of the RFID antenna, and when the face is located on the first arm side, the first arm is used to unlock the lock of the banknote storage container, and when the face is not located on the first arm side, the reversing device is used to rotate the banknote storage container so that the face is located on the first arm side, so that the first arm unlocks the lock of the banknote storage container. The control device determines the position of the key hole based on the image data of the banknote storage container photographed by the second arm, and controls the first arm to move the key and insert it into the key hole to unlock the door. The second arm has a holding portion, and the banknotes in the banknote storage container are taken out by using the holding portion.
2. An automatic banknote processing system, wherein: include: A conveying device, used for conveying a banknote storage container in which banknotes are stored; A first arm having a key; a second arm having a camera portion; Control devices; Banknote tidying device; Banknote sorting device; Strapping device; as well as The third arm, The banknote storage container is provided with an RFID tag. The conveying device includes: a first conveyor, a second conveyor, a reversing device, an RFID antenna for detecting the RFID tag, and a transfer device. The control device determines the face of the banknote storage container having the keyhole based on the detection result of the RFID antenna, and when the face is located on the first arm side, the first arm is used to unlock the lock of the banknote storage container, and when the face is not located on the first arm side, the reversing device is used to rotate the banknote storage container so that the face is located on the first arm side, so that the first arm unlocks the lock of the banknote storage container. The control device determines the position of the key hole based on the image data of the banknote storage container photographed by the second arm, and controls the first arm to move the key and insert it into the key hole to unlock the door. The first arm opens the cover of the banknote storage container after unlocking the banknote storage container.
3. An automatic banknote processing method of an automatic banknote processing system, wherein: include: The conveying device conveys the banknote storage container provided with the RFID tag and storing the banknotes; The step of determining the face of the banknote storage container having the keyhole based on the detection result of the RFID tag detected by the RFID antenna of the conveying device, and when the face is located on the first arm side, unlocking the lock of the banknote storage container by using the first arm, and when the face is not located on the first arm side, rotating the banknote storage container by using a reversing device so that the face is located on the first arm side, so that the first arm unlocks the lock of the banknote storage container storing the banknotes; The second arm uses a camera to photograph the banknote storage container; a step of determining the position of the keyhole based on the image data of the banknote storage container photographed by the second arm; Controlling the first arm to move the key and insert it into the keyhole to unlock the key; After the banknote storage container is unlocked, the first arm opens the cover of the banknote storage container; and The second arm uses the holding portion to grab and take out the banknotes in the banknote storage container.