Intelligent code disassembling platform for flat-layer vault service

Abstract

The invention relates to a leveling vault business intelligent code splitting platform, which comprises a WMS system, a scheduling system, RFID equipment and a mechanical control system with a mechanical arm, the scheduling system, the RFID equipment and the mechanical control system are all connected with the WMS system, and the mechanical arm is provided with a 3D visual identification assembly connected with the mechanical control system. The AGV robot, the mechanical arm and the RFID equipment are comprehensively controlled through the WMS system, the dispatching system and the mechanical control system to achieve the intelligent code disassembling task of the flat-layer vault service, so that automatic sorting, support closing, depositing and racking of money boxes are completed, manual operation is not needed, the problems of high labor intensity of personnel and high error rate are solved, and the working efficiency is improved. Any link can be traced; meanwhile, automation of tray warehousing and cash box sorting is achieved, the business handling efficiency and the stock space utilization rate are improved, and the prevention and control level, the physical storage capacity and the warehouse automatic management level of a cash operation center are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent treasury business in the financial industry, and in particular to an intelligent decryption platform for flat-floor treasury business. Background Art

[0002] A vault is a place for handling and storing physical objects such as cash, coins and precious metals. Currently, most vaults have a low level of automation, and most of the work is done manually, including recording, checkout, handling and storage. Although there may be some mechanized improvements in handling and storage, the various functional modules of the entire vault still need to be connected manually, resulting in low overall efficiency.

[0003] With the development of technology, although the vaults are constantly introducing various management systems, the systems tend to realize the electronicization of data at the management level. However, in some business processes, data refinement and security, there are still phenomena such as reliance on manual operations and lack of technical means. For example, the handover of items in and out is done by paper handover and manual signature; the circulation process of items can only be checked by paper receipts afterwards, and it is impossible to monitor in real time and understand the progress of the operation in a timely manner; the handed over items cannot be corrected in time, etc. In addition, each system is independent of each other due to different online times, inconsistent interfaces, and technical generation differences, forming information islands, causing serious lags in the response of various functional modules of the vault and low overall efficiency. For the managers of the vault, the opacity of process data makes it impossible for them to understand the status of the vault in real time, which puts them under increasing pressure when dealing with changes in the vault's daily business.

[0004] For example, in the vault business processing process of the prior art, the warehouse manager will stack the assembled cash boxes on different pallets according to the line, and pull the pallets back to the luggage warehouse for storage; when storing, space must be reserved next to the corresponding line pallets to place the storage box pallets entering the warehouse; when entering the warehouse at night, the received cash boxes are moved to the buffer area and then manually sorted, and the storage boxes and transfer boxes, precious metal boxes, and voucher boxes are placed on different pallets and pushed into the luggage warehouse. The problems with this prior art are: the warehouse manager needs to move the heavy transfer boxes, precious metal boxes, and voucher boxes to other pallets, which is labor-intensive and easy to fatigue. The storage space of the assembled cash boxes in the luggage warehouse is large. The stacking is irregular, and it is troublesome to find the cash boxes if something goes wrong. Summary of the invention

[0005] The present invention provides an intelligent de-coding platform for flat-level vault business to solve at least one of the above-mentioned technical problems.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: an intelligent de-coding platform for flat-level vault business, comprising a WMS system, a dispatching system, an RFID device and a machine control system with a mechanical arm, wherein the dispatching system, the RFID device and the machine control system are all connected to the WMS system, and the mechanical arm is provided with a 3D visual recognition component connected to the machine control system; The WMS system is used to bind a cash box to a pallet carrying the cash box; it is also used to calculate whether there is a pallet to be unpacked in the flat-level vault according to the business type and the binding status of all pallets and cash boxes in the flat-level vault, and when it is calculated that there is a pallet to be unpacked, it sends a status detection signal to the machine control system; The machine control system is used to detect the state of the robot arm after receiving the state detection signal, obtain a robot arm state signal, and feed back the robot arm state signal to the WMS system; The WMS system is further used to determine whether to send a first scheduling task signal to the scheduling system according to the robot arm state signal; The scheduling system is used to control the AGV transport robot to transport the required pallets to be depalletized to the storage position under the robot arm according to the first scheduling task signal after receiving the first scheduling task signal, and to feed back a transport task completion signal to the WMS system after the AGV transport robot completes the transport task; The WMS system is further used to bind the pallet to be unpacked with the storage position under the robot arm and modify the status of the transport task after receiving the completion signal of the transport task, and to determine whether all the required pallets to be unpacked are located in the storage position under the robot arm, and to feedback the information that all the pallets are in place to the machine control system when all the required pallets to be unpacked are located in the storage position under the robot arm; The machine control system is further used to, after receiving the information that all the pallets are in place, start the 3D visual recognition component to perform color recognition on the cash boxes on the pallet to be de-coded and obtain cash box position mapping data, and decide whether to generate a de-coding task according to the color recognition result, and after generating the de-coding task, adjust the grasping path and posture according to the cash box position mapping data and the preset grasping strategy to control the robot arm to perform the grasping action, and after the robot arm performs the grasping action, confirm the grasping state through the force feedback data of the force sensor on the robot arm, and feed back the grasping state to the WMS system; The WMS system is further used to control the RFID device to turn on after receiving the grabbing status; The RFID device is used to collect the label information of the cash box grabbed by the robot arm through an anti-collision algorithm, and upload the label information of the cash box grabbed by the robot arm to the WMS system; The WMS system is also used to calculate the target position of the cash box according to the label information of the cash box grabbed by the robot arm, obtain the target position information of the cash box, and send the target position information of the cash box to the machine control system; The machine control system is further used to control the mechanical arm to place the grabbed cash box to the cash box target position according to the cash box target position information, and after the mechanical arm stacks the grabbed cash box to the cash box target position, feedback the stacking completion information to the WMS system; The WMS system is also used to modify the binding status of the corresponding box and pallet after receiving the stacking completion information.

[0007] The beneficial effects of the present invention are as follows: an intelligent de-coding platform for flat-floor vault business of the present invention realizes the intelligent de-coding task of flat-floor vault business by comprehensively controlling AGV robots, mechanical arms and RFID equipment through the WMS system, the dispatching system and the machine control system, thereby completing the automatic sorting, consignment, storage and shelving processing of cash boxes without the need for human operation, solving the problems of high labor intensity and high error rate of personnel, and any link can be traced; at the same time, the automation of pallet warehousing and cash box sorting is realized, which improves the business handling efficiency and inventory space utilization, and improves the prevention and control level of the cash operation center, the physical warehousing capacity and the warehouse automation management level. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 The present invention is a structural block diagram of an intelligent de-coding platform for flat-level vault business. DETAILED DESCRIPTION

[0009] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0010] The cash box of the safe is a box used to hold financial items. The cash box can be set to different colors according to the different financial items contained. Specifically, it can be set as: a storage box with a first color, a payment box with a second color, a voucher box with a third color, and a precious metal box with a fourth color; among them, the first color can be set to gray, the second color can be set to red, the third color can be set to blue, and the fourth color can be set to yellow.

[0011] Before entering the warehouse, the escort personnel stack the cash boxes to be entered on the pallet. The cash box stacking rule is: the gray storage box is at the bottom, the red transfer box is at the top, and a pallet can stack up to 15 cash boxes. Then the pallet with the cash boxes is pushed into the tunnel machine to enter the vault. Next, the intelligent destacking platform for flat vault business of the present invention is used to destacking and stack the cash boxes on the pallet entering the vault.

[0012] like Figure 1As shown, an intelligent de-coding platform for flat-level vault business includes a WMS system, a dispatching system, an RFID device, and a machine control system with a mechanical arm. The dispatching system, the RFID device, and the machine control system are all connected to the WMS system. The mechanical arm is equipped with a 3D visual recognition component connected to the machine control system. The WMS system is used to bind a cash box to a pallet carrying the cash box; it is also used to calculate whether there is a pallet to be unpacked in the flat-level vault according to the business type and the binding status of all pallets and cash boxes in the flat-level vault, and when it is calculated that there is a pallet to be unpacked, it sends a status detection signal to the machine control system; The machine control system is used to detect the state of the robot arm after receiving the state detection signal, obtain the robot arm state signal, and feed back the robot arm state signal to the WMS system; The WMS system is further used to determine whether to send a first scheduling task signal to the scheduling system according to the robot arm state signal; The scheduling system is used to control the AGV transport robot to transport the required pallets to be depalletized to the storage position under the robot arm according to the first scheduling task signal after receiving the first scheduling task signal, and to feed back a transport task completion signal to the WMS system after the AGV transport robot completes the transport task; The WMS system is further used to bind the pallet to be unpacked with the storage position under the robot arm and modify the status of the transport task after receiving the completion signal of the transport task, and to determine whether all the required pallets to be unpacked are located in the storage position under the robot arm, and to feedback the information that all the pallets are in place to the machine control system when all the required pallets to be unpacked are located in the storage position under the robot arm; The machine control system is further used to, after receiving the information that all the pallets are in place, start the 3D visual recognition component to perform color recognition on the cash boxes on the pallet to be de-coded and obtain cash box position mapping data, and decide whether to generate a de-coding task according to the color recognition result, and after generating the de-coding task, adjust the grasping path and posture according to the cash box position mapping data and the preset grasping strategy to control the robot arm to perform the grasping action, and after the robot arm performs the grasping action, confirm the grasping state through the force feedback data of the force sensor on the robot arm, and feed back the grasping state to the WMS system; The WMS system is further used to control the RFID device to turn on after receiving the grabbing status; The RFID device is used to collect the label information of the cash box grabbed by the robot arm through an anti-collision algorithm, and upload the label information of the cash box grabbed by the robot arm to the WMS system; The WMS system is also used to calculate the target position of the cash box according to the label information of the cash box grabbed by the robot arm, obtain the target position information of the cash box, and send the target position information of the cash box to the machine control system; The machine control system is further used to control the mechanical arm to place the grabbed cash box to the cash box target position according to the cash box target position information, and after the mechanical arm stacks the grabbed cash box to the cash box target position, feedback the stacking completion information to the WMS system; The WMS system is also used to modify the binding status of the corresponding box and pallet after receiving the stacking completion information.

[0013] The intelligent de-coding platform for flat-floor treasury business of the present invention realizes the intelligent de-coding task of flat-floor treasury business by comprehensively controlling AGV robots, mechanical arms and RFID devices through the WMS system, the dispatching system and the machine control system, thereby completing the automatic sorting, consignment, storage and shelf processing of cash boxes without the need for human operation, solving the problems of high labor intensity and high error rate of personnel, and any link can be traced; at the same time, the automation of pallet warehousing and cash box sorting is realized, which improves the business handling efficiency and inventory space utilization rate, and improves the prevention and control level of the cash operation center, the physical warehousing capacity and the automatic management level of the warehouse.

[0014] In some embodiments, the WMS system can bind the money box to the pallet carrying the money box in the tunnel machine. The tunnel machine is equipped with a tunnel machine system connected to the WMS system and a personnel detection camera in the tunnel machine; the tunnel machine is a security device used to restrict the entry and exit of personnel and prevent tailgating, and uses double door interlock control and a personnel detection camera in the tunnel machine to achieve safety in entering and exiting the warehouse area. In the absence of business, when normal personnel enter and exit, the WMS system verifies the personnel authority by identifying facial information, and verifies that the WMS system sends the door opening command to the tunnel machine system to link the opening and closing of the tunnel machine door and enter and exit the warehouse area; when WMS sends business processing, the tunnel machine system will turn on the camera detection function and the double-door linkage function. Only one door can be opened at the same time. When the personnel are in the process of handling business, the tunnel machine door is opened by the business drive, and the person follows the pallet into the camera detection area, which automatically triggers the personnel detection of the camera. When it is detected that the person enters the tunnel machine, the WMS sends the door closing command to the tunnel machine system. When the tunnel machine system executes the door closing, the door closing fails, and the camera prompts an alarm. When the person leaves the tunnel machine area, the alarm is turned off, and the door automatically closes to carry out business processing. The tunnel machine is also equipped with a tunnel machine terminal and a pallet RFID antenna connected to the WMS system. The tunnel machine terminal is used for escort personnel to operate the tunnel machine equipment to open and close the door, and to verify the information function of the outbound and inbound money boxes. After the tunnel machine door is successfully closed, the tunnel machine system returns a successful door closing signal to the WMS system. After the WMS system receives the successful door closing signal, it automatically starts the pallet RFID antenna to scan the pallet information and reports the scanning results to the WMS system. The WMS system feeds back the pallet information to the tunnel machine terminal. The tunnel machine terminal confirms whether the pallet information is correct. After it is correct, the WMS system issues a door closing designation and calls the pallet RFID antenna to scan the box chip. The pallet RFID antenna reports the scanned box information to the WMS system. The WMS system verifies the box information with the warehouse entry form, and pushes the verification results to the tunnel machine terminal for display through Websocket technology. The number of boxes and box information are confirmed through the tunnel machine terminal. After confirmation, the WMS system automatically processes the warehouse entry form and the binding of the box and the pallet, which is convenient for subsequent disassembly and stacking processes.

[0015] In some embodiments, the robot arm state signal includes a first state signal and a second state signal; the first state signal is that the robot arm has a task in execution and a queued task or no idle storage position under the robot arm, and the second state signal is that the robot arm has a task in execution and no queued task and an idle storage position under the robot arm; The WMS system is specifically used to temporarily not send the first scheduling task signal when the robot arm state signal is the first state signal, and to send the first scheduling task signal when the robot arm state signal is the second state signal.

[0016] In some embodiments, the robot arm state signal further includes a third state signal, and the third state signal is a state signal other than the first state signal and the second state signal; The WMS system is also used to query whether there are pallets to be unpacked in the flat-level safe when the robot arm status signal is the third status signal, and send a status detection signal to the machine control system when it is found that there are pallets to be unpacked.

[0017] In some embodiments, the 3D vision recognition component is started to obtain the cash box position mapping data for the cash boxes on the pallet to be de-coded. Specifically, the 3D vision recognition component is used to scan each cash box on the pallet to be de-coded to collect the point cloud data of each cash box, and the collected point cloud data is pre-processed with noise reduction and registration to extract the spatial position, orientation and stacking status information of each cash box on the pallet to be de-coded; the spatial position, orientation and stacking status information of each cash box constitutes the cash box position mapping data.

[0018] In some embodiments, the money box set includes a storage box with a first color, a payment box with a second color, a voucher box with a third color, and a precious metal box with a fourth color; When the color recognition result is the second color, the third color, or the fourth color, the machine control system generates the code removal task.

[0019] In some embodiments, when the cash box grabbed by the robot arm is a payment box, the target position of the cash box is a storage integration tray; when the cash box grabbed by the robot arm is a voucher box, the target position of the cash box is a voucher tray; The WMS system is specifically used to find out the corresponding pallet to be de-coded as the storage integration pallet or the voucher pallet according to the label information of the transfer box or the voucher box, and query the position of the storage position under the robot arm where the storage integration pallet or the voucher pallet is located, and send the position of the storage position under the robot arm where the storage integration pallet or the voucher pallet is located to the machine control system; The machine control system is specifically used to control the 3D visual recognition component to locate the storage position under the robotic arm where the incoming integrated pallet or the voucher tray is located after receiving the position of the storage position under the robotic arm where the incoming integrated pallet or the voucher tray is located, obtain first positioning data, calculate the target stacking position based on the first positioning data, and control the robotic arm to stack the grabbed cash boxes based on the target stacking position.

[0020] In some embodiments, when the cash box grabbed by the robot arm is a precious metal box, the target location of the cash box is a three-dimensional shelf in the warehouse; The WMS system is specifically used to calculate the first vacant cargo location code on the three-dimensional shelf in the warehouse according to the label information of the precious metal box, and send the first vacant cargo location code to the machine control system; The machine control system is specifically used to match the first point information according to the first idle cargo location code after receiving the first idle cargo location code, and control the robot arm to stack the grabbed cash boxes according to the first point information.

[0021] Specifically, due to the area limitation of the flat-floor safe, there is no suitable storage space for the cash boxes, which can only be placed on the ground pallet, and the other space in the warehouse is not fully utilized. Therefore, in order to solve this problem, the present invention sets a fixed three-dimensional shelf in the warehouse, which can stack more cash boxes. The mechanical arm in the present invention is fixedly set beside the three-dimensional shelf in the warehouse, and the storage position under the mechanical arm is set below the mechanical arm.

[0022] In some embodiments, the machine control system is further configured to feed back the color recognition result representing the first color to the WMS system when the color recognition result is the first color; The WMS system is further configured to control the RFID device to turn on after receiving the color recognition result representing the first color; The RFID device is also used to collect the label information of the storage box on the pallet to be destacking through an anti-collision algorithm, and upload the label information of the storage box on the pallet to be destacking to the WMS system; The WMS system is further used to determine the outlet to which the storage box belongs according to the label information of the storage box on the pallet to be unpacked; when the outlet to which the storage box belongs is a non-operating outlet, the second vacant cargo space code on the three-dimensional shelf in the warehouse is calculated according to the label information of the storage box on the pallet to be unpacked, and the second vacant cargo space code is sent to the machine control system; when the outlet to which the storage box belongs is an operating outlet, the corresponding pallet to be unpacked is found according to the label information of the storage box on the pallet to be unpacked as the pallet to be shipped out, and the position of the storage space under the robot arm where the pallet to be shipped out is located is queried, and the position of the storage space under the robot arm where the pallet to be shipped out is located is sent to the machine control system; The machine control system is further used to, after receiving the second free cargo location code, match the second point information according to the second free cargo location code, and grab the storage boxes on the pallet to be unpacked and stack them on the three-dimensional shelf in the warehouse according to the second point information, the cash box position mapping data and the preset grabbing strategy; and is also used to, after receiving the position of the storage position under the robot arm where the pallet to be shipped is located, control the 3D visual recognition component to locate the position of the storage position under the robot arm where the pallet to be shipped is located, obtain the second positioning data, and grab the storage boxes on the pallet to be unpacked and stack them on the pallet to be shipped according to the second positioning data, the cash box position mapping data and the preset grabbing strategy.

[0023] In some embodiments, the WMS system is further used to calculate whether there are boxes to be removed from the pallet to be removed after the destacking task is completed, and if there are boxes to be removed from the pallet, generate a box removal task and send it to the machine control system; The machine control system calculates the target position of the cash box to be taken off the shelf according to the cash box unloading task, and adjusts the grasping path and posture according to the target position of the cash box to be taken off the shelf and the preset grasping strategy to control the robot arm to grasp the cash box to be taken off the shelf to the current pallet to be unpacked.

[0024] In some embodiments, the WMS system is further used to query the free storage space in the flat-level vault and create a second scheduling task to be sent to the scheduling system after the destacking task of the current pallet to be destacking is completed; The scheduling system also schedules the AGV robot to evacuate the current pallet to be de-coded after the de-coding task is completed from the storage position under the robot arm to the vacant storage position in the flat-level vault according to the starting point and target point of the second scheduling task.

[0025] In the intelligent de-coding platform for flat-level vault business of the present invention, the WMS system will select the current task or queued task as the task in execution to start execution. The grab task generation rule is: one task is generated for one cash box; task generation also follows the principle of "grabbing less and not more", for example: when the gray storage boxes of the non-operating outlets have all been put on the shelves, the WMS system compares the number of cash boxes on the incoming pallet with the number of cash boxes on the outgoing pallet, selects the pallet with fewer cash boxes to generate a grab task, and grabs a small number of cash boxes to the pallet of the majority of cash boxes. The WMS system calculates the required pallets for the incoming line based on the category of the incoming cash box and the business situation of the outlet to which the cash box belongs the next day. The pallets have the following three categories: mixed incoming, outgoing, and voucher pallets; when any required category of pallets does not exist, an empty pallet will be selected instead. The sorting rule for incoming cash boxes is: the machine control system uses 3D vision to judge the color of the cash box and splits the transfer box into the incoming mixed pallet, puts the voucher box on the voucher pallet, and puts the precious metal box on the shelf for storage. If all outlets on the current route are open for business, the gray lockers will not be grabbed; if there are closed outlets on the current route, the WMS system determines that the pallets to be shipped out need to be replenished, and then sends the task to the scheduling system. The scheduling system dispatches the AGV robot to move the empty pallet to the storage position under the robotic arm. After the AGV robot completes the transportation, it notifies the scheduling system. The scheduling system sends a completion signal to the WMS system, and the WMS system binds the pallet to the point and modifies the transportation task status.

[0026] In the present invention, if an abnormality occurs in the information collection of the RFID device, the system will automatically retry. After three consecutive failures, the WMS system will automatically assign the abnormal position of the three-dimensional shelf, and the WMS system will send the abnormal cargo location code to the machine control system. The machine control system matches the point information according to the received cargo location code, and sends the point information to the robotic arm. The robotic arm moves to the stacking position according to the point, and places the cash box on the abnormal cargo location. After stacking, the robotic arm informs the machine control system. After receiving the stacking completion information, the machine control system informs the WMS system of the completion information. The WMS system records the abnormal position information and waits for manual processing.

[0027] In the present invention, after the task of the current pallet is completed, the WMS system queries the free storage locations in the warehouse and creates a task and sends it to the scheduling system. The scheduling system schedules the AGV robot to evacuate the corresponding pallet from the storage location under the robotic arm to the free storage location according to the starting point and target point of the task.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent decryption platform for flat vault business, characterized by: It includes a WMS system, a dispatching system, an RFID device and a machine control system with a mechanical arm, wherein the dispatching system, the RFID device and the machine control system are all connected to the WMS system, and the mechanical arm is equipped with a 3D visual recognition component connected to the machine control system; The WMS system is used to bind a cash box to a pallet carrying the cash box; it is also used to calculate whether there is a pallet to be unpacked in the flat-level vault according to the business type and the binding status of all pallets and cash boxes in the flat-level vault, and when it is calculated that there is a pallet to be unpacked, it sends a status detection signal to the machine control system; The machine control system is used to detect the state of the robot arm after receiving the state detection signal, obtain the robot arm state signal, and feed back the robot arm state signal to the WMS system; The WMS system is further used to determine whether to send a first scheduling task signal to the scheduling system according to the robot arm state signal; The scheduling system is used to control the AGV transport robot to transport the required pallets to be depalletized to the storage position under the robot arm according to the first scheduling task signal after receiving the first scheduling task signal, and to feed back a transport task completion signal to the WMS system after the AGV transport robot completes the transport task; The WMS system is further used to bind the pallet to be unpacked with the storage position under the robot arm and modify the status of the transport task after receiving the completion signal of the transport task, and to determine whether all the required pallets to be unpacked are located in the storage position under the robot arm, and to feedback the information that all the pallets are in place to the machine control system when all the required pallets to be unpacked are located in the storage position under the robot arm; The machine control system is further used to, after receiving the information that all the pallets are in place, start the 3D visual recognition component to perform color recognition on the cash boxes on the pallet to be de-coded and obtain cash box position mapping data, and decide whether to generate a de-coding task according to the color recognition result, and after generating the de-coding task, adjust the grasping path and posture according to the cash box position mapping data and the preset grasping strategy to control the robot arm to perform the grasping action, and after the robot arm performs the grasping action, confirm the grasping state through the force feedback data of the force sensor on the robot arm, and feed back the grasping state to the WMS system; The WMS system is further used to control the RFID device to turn on after receiving the grabbing status; The RFID device is used to collect the label information of the cash box grabbed by the robot arm through an anti-collision algorithm, and upload the label information of the cash box grabbed by the robot arm to the WMS system; The WMS system is also used to calculate the target position of the cash box according to the label information of the cash box grabbed by the robot arm, obtain the target position information of the cash box, and send the target position information of the cash box to the machine control system; The machine control system is further used to control the mechanical arm to place the grabbed cash box to the cash box target position according to the cash box target position information, and after the mechanical arm stacks the grabbed cash box to the cash box target position, feedback the stacking completion information to the WMS system; The WMS system is also used to modify the binding status of the corresponding box and pallet after receiving the stacking completion information.

2. The intelligent decryption platform for flat-level vault business according to claim 1 is characterized by: The robot arm state signal includes a first state signal and a second state signal; the first state signal indicates that the robot arm has a task in execution and a queued task or no idle storage position under the robot arm, and the second state signal indicates that the robot arm has a task in execution and no queued task and an idle storage position under the robot arm; The WMS system is specifically used to temporarily not send the first scheduling task signal when the robot arm state signal is the first state signal, and to send the first scheduling task signal when the robot arm state signal is the second state signal.

3. The intelligent decryption platform for flat-level vault business according to claim 2 is characterized by: The robot arm state signal further includes a third state signal, and the third state signal is a state signal other than the first state signal and the second state signal; The WMS system is also used to query whether there are pallets to be unpacked in the flat-level safe when the robot arm status signal is the third status signal, and send a status detection signal to the machine control system when it is found that there are pallets to be unpacked.

4. The intelligent decryption platform for flat-level vault business according to claim 1 is characterized by: The 3D vision recognition component is started to obtain the cash box position mapping data for the cash boxes on the pallet to be de-coded. Specifically, the 3D vision recognition component is used to scan each cash box on the pallet to be de-coded to collect the point cloud data of each cash box, and the collected point cloud data is pre-processed with noise reduction and registration to extract the spatial position, orientation and stacking status information of each cash box on the pallet to be de-coded; the spatial position, orientation and stacking status information of each cash box constitutes the cash box position mapping data.

5. The intelligent decryption platform for flat-level vault business according to claim 1 is characterized by: The money box set includes a storage box with a first color, a payment box with a second color, a voucher box with a third color, and a precious metal box with a fourth color; When the color recognition result is the second color, the third color, or the fourth color, the machine control system generates the code removal task.

6. The intelligent decryption platform for flat-level vault business according to claim 5 is characterized by: When the cash box grabbed by the robot arm is a payment box, the target position of the cash box is the storage integration pallet; when the cash box grabbed by the robot arm is a voucher box, the target position of the cash box is the voucher pallet; The WMS system is specifically used to find out the corresponding pallet to be de-coded as the storage integration pallet or the voucher pallet according to the label information of the transfer box or the voucher box, and query the position of the storage position under the robot arm where the storage integration pallet or the voucher pallet is located, and send the position of the storage position under the robot arm where the storage integration pallet or the voucher pallet is located to the machine control system; The machine control system is specifically used to control the 3D visual recognition component to locate the storage position under the robotic arm where the incoming integrated pallet or the voucher tray is located after receiving the position of the storage position under the robotic arm where the incoming integrated pallet or the voucher tray is located, obtain first positioning data, calculate the target stacking position based on the first positioning data, and control the robotic arm to stack the grabbed cash boxes based on the target stacking position.

7. The intelligent decryption platform for flat-level vault business according to claim 5 is characterized by: When the cash box grabbed by the robot arm is a precious metal box, the target location of the cash box is a three-dimensional shelf in the warehouse; The WMS system is specifically used to calculate the first vacant cargo location code on the three-dimensional shelf in the warehouse according to the label information of the precious metal box, and send the first vacant cargo location code to the machine control system; The machine control system is specifically used to match the first point information according to the first idle cargo location code after receiving the first idle cargo location code, and control the robot arm to stack the grabbed cash boxes according to the first point information.

8. The intelligent decryption platform for flat-level vault business according to claim 7 is characterized by: The machine control system is further configured to feed back the color recognition result representing the first color to the WMS system when the color recognition result is the first color; The WMS system is further configured to control the RFID device to turn on after receiving the color recognition result representing the first color; The RFID device is also used to collect the label information of the storage box on the pallet to be destacking through an anti-collision algorithm, and upload the label information of the storage box on the pallet to be destacking to the WMS system; The WMS system is further used to determine the outlet to which the storage box belongs according to the label information of the storage box on the pallet to be unpacked; when the outlet to which the storage box belongs is a non-operating outlet, the second vacant cargo space code on the three-dimensional shelf in the warehouse is calculated according to the label information of the storage box on the pallet to be unpacked, and the second vacant cargo space code is sent to the machine control system; when the outlet to which the storage box belongs is an operating outlet, the corresponding pallet to be unpacked is found according to the label information of the storage box on the pallet to be unpacked as the pallet to be shipped out, and the position of the storage space under the robot arm where the pallet to be shipped out is located is queried, and the position of the storage space under the robot arm where the pallet to be shipped out is located is sent to the machine control system; The machine control system is further used to, after receiving the second free cargo location code, match the second point information according to the second free cargo location code, and grab the storage boxes on the pallet to be unpacked and stack them on the three-dimensional shelf in the warehouse according to the second point information, the cash box position mapping data and the preset grabbing strategy; and is also used to, after receiving the position of the storage position under the robot arm where the pallet to be shipped is located, control the 3D visual recognition component to locate the position of the storage position under the robot arm where the pallet to be shipped is located, obtain the second positioning data, and grab the storage boxes on the pallet to be unpacked and stack them on the pallet to be shipped according to the second positioning data, the cash box position mapping data and the preset grabbing strategy.

9. The intelligent decryption platform for flat-level vault business according to claim 1 is characterized by: The WMS system is also used to calculate whether there are boxes to be removed from the pallet to be removed after the depalletizing task is completed. If there are boxes to be removed from the pallet, a box removal task is generated and sent to the machine control system. The machine control system calculates the target position of the cash box to be taken off the shelf according to the cash box unloading task, and adjusts the grasping path and posture according to the target position of the cash box to be taken off the shelf and the preset grasping strategy to control the robot arm to grasp the cash box to be taken off the shelf to the current pallet to be unpacked.

10. The intelligent decryption platform for flat-level vault business according to claim 1 is characterized by: The WMS system is also used to query the free storage space in the flat-level vault and create a second scheduling task to be sent to the scheduling system after the destacking task of the current pallet to be destacking is completed; The scheduling system also schedules the AGV robot to evacuate the current pallet to be de-coded after the de-coding task is completed from the storage position under the robot arm to the vacant storage position in the flat-level vault according to the starting point and target point of the second scheduling task.

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