An intelligent decoding platform for flat-layer vault business

Abstract

The present invention relates to an intelligent decoding platform for flat-layer vault operations, which includes a WMS system, a scheduling system, RFID devices, and a machine control system with a robotic arm. The scheduling system, RFID devices, and machine control system are all connected to the WMS system. A 3D vision recognition component connected to the machine control system is configured on the robotic arm. The present invention realizes the intelligent decoding task of flat-layer vault operations through the comprehensive control of AGV robots, robotic arms, and RFID devices by the WMS system, the scheduling system, and the machine control system, thereby completing the automatic sorting, palletizing, storage, and shelving processes of cash boxes, without manual operation, solving the problems of high labor intensity and high error rate of personnel, and being traceable at any link; at the same time, it realizes the automation of pallet warehousing and cash box sorting, improves the business handling efficiency and inventory space utilization rate, and enhances the prevention and control level, physical warehousing capacity, and warehouse automation management level of the cash operation center.

Description

Technical Field

[0001] The present invention relates to the field of intelligentization of vault operations in the financial industry, and particularly to an intelligent decoding platform for flat vault operations. Background Art

[0002] A vault is a place for processing and storing physical objects such as cash, coins, and precious metals. Currently, the automation level of most vaults is relatively low, and most tasks rely on manual labor, including recording, checking out, handling, and warehousing. Although there may be some mechanization improvements in handling and warehousing, the various functional modules of the entire vault still need to be connected manually, resulting in relatively low overall efficiency.

[0003] With the development of technology, although various management systems have been continuously introduced into vaults, the systems tend to realize the digitization of data at the management level. However, in some business processes, data refinement, and security aspects, there are still phenomena such as relying on manual operations and lacking technical means. For example, the physical handover of items uses paper handover and manual signature; the progress of item transfer can only be viewed retrospectively through paper receipts, and real-time monitoring and timely understanding of the operation progress are impossible; it is impossible to correct errors in the handover items in a timely manner. Moreover, due to different implementation times, inconsistent interfaces, and technological generation gaps of each system, they are independent of each other, forming information islands, resulting in serious lag in the response of each functional module of the vault and low overall efficiency. For vault managers, the lack of transparency of process data makes it impossible for them to understand the status of the vault in real time, thus increasing the pressure when dealing with daily business changes in the vault.

[0004] For example, in the process of vault operation in the prior art, the vault keeper codes and places the assembled money boxes on different trays according to the lines, and pulls the trays back to the luggage storage. When storing, space also needs to be reserved beside the trays of the corresponding lines for placing the trays of the incoming deposit boxes. When the deposit boxes are received at night and transported to the buffer area, manual sorting is still required. The deposit boxes, transfer boxes, precious metal boxes, and voucher boxes are placed on different trays and pushed to the luggage storage. The problems existing in this prior art are as follows: The vault keeper needs to move the heavy transfer boxes, precious metal boxes, and voucher boxes to other trays, resulting in high labor intensity and easy fatigue. The storage of the assembled money boxes in the luggage storage occupies a large space. The stacking is irregular, and it is troublesome to find the money boxes in case of errors. Summary of the Invention

[0005] The present invention provides an intelligent decoding platform for flat vault operations to solve at least one of the above technical problems.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: A flat-layer vault business intelligent decoding platform, including a WMS system, a scheduling system, RFID devices, and a machine control system with a robotic arm. The scheduling system, the RFID devices, and the machine control system are all connected to the WMS system. A 3D vision recognition component connected to the machine control system is configured on the robotic arm;

[0007] The WMS system is used to bind the cash box with the pallet carrying the cash box; it is also used to calculate whether there is a pallet to be decoded in the flat-layer vault according to the business type and the binding situation of all pallet cash boxes in the flat-layer vault. When it is calculated that there is a pallet to be decoded, a status detection signal is sent to the machine control system;

[0008] The machine control system is used to detect the status of the robotic arm after receiving the status detection signal, obtain a robotic arm status signal, and feedback the robotic arm status signal to the WMS system;

[0009] The WMS system is also used to decide whether to send a first scheduling task signal to the scheduling system according to the robotic arm status signal;

[0010] The scheduling system is used to control the AGV handling robot to transport the required pallet to be decoded to the storage position under the robotic arm according to the first scheduling task signal after receiving the first scheduling task signal. After the AGV handling robot completes the handling task, a handling task completion signal is feedback to the WMS system;

[0011] The WMS system is also used to bind the pallet to be decoded with the storage position under the robotic arm and modify the handling task status after receiving the handling task completion signal, and judge whether all the required pallets to be decoded are located at the storage position under the robotic arm. When all the required pallets to be decoded are located at the storage position under the robotic arm, pallet all-in-place information is feedback to the machine control system;

[0012] The machine control system is also used to start the 3D vision recognition component to perform color recognition on the cash boxes on the pallet to be decoded and obtain the cash box position mapping data after receiving the pallet all-in-place information, and decide whether to generate a decoding task according to the color recognition result. After generating the decoding task, the grasping path and posture are adjusted according to the cash box position mapping data and the preset grasping strategy to control the robotic arm to perform a grasping action. After the robotic arm performs the grasping action, the grasping state is confirmed through the force feedback data of the force sensor on the robotic arm, and the grasping state is feedback to the WMS system;

[0013] The WMS system is also used to control the RFID devices to be turned on after receiving the grasping state;

[0014] The RFID device is used to collect the label information of the money box grabbed by the robotic arm through an anti-collision algorithm and upload the label information of the money box grabbed by the robotic arm to the WMS system;

[0015] The WMS system is further used to calculate the target position of the money box according to the label information of the money box grabbed by the robotic arm, obtain the target position information of the money box, and send the target position information of the money box to the machine control system;

[0016] The machine control system is further used to control the robotic arm to place the grabbed money box at the target position of the money box according to the target position information of the money box, and after the robotic arm stacks the grabbed money box at the target position of the money box, feedback the stacking completion information to the WMS system;

[0017] The WMS system is further used to modify the binding status of the corresponding money box and the pallet after receiving the stacking completion information.

[0018] The beneficial effects of the present invention are as follows: An intelligent unpacking and stacking platform for flat-layer vault business of the present invention realizes the intelligent unpacking and stacking tasks of flat-layer vault business through the comprehensive control of AGV robots, robotic arms and RFID devices by the WMS system, the scheduling system and the machine control system, thereby completing the automatic sorting, palletizing, storage and shelving processing of money boxes, without manual operation, solving the problems of large labor intensity of personnel and high error rate, and traceability can be achieved in any link; at the same time, the automation of pallet warehousing and money box sorting is realized, the business handling efficiency and the utilization rate of inventory space are improved, and the prevention and control level, physical warehousing capacity and warehouse automation management level of the cash operation center are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural block diagram of an intelligent unpacking and stacking platform for flat-layer vault business of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0021] The money box in the vault is a box for containing financial items. According to the different financial items contained, the money box can be set to different colors; specifically, it can be set as: a storage box with a first color, a transfer and adjustment box with a second color, a voucher box with a third color, and a precious metal box with a fourth color; wherein, the first color can be set as gray, the second color can be set as red, the third color can be set as blue, and the fourth color can be set as yellow.

[0022] Before warehousing, the escort personnel stack the cash boxes to be warehoused on the pallet. The stacking rule of the cash boxes is: the gray storage box is at the bottom, the red transfer box is on the top, and a maximum of 15 cash boxes can be stacked on one pallet. Then, the pallet with the stacked cash boxes is pushed into the tunnel machine to enter the vault. Next, the intelligent unpacking and stacking platform for flat-layer vault operations of the present invention is used to unpack and stack the cash boxes on the pallet entering the vault.

[0023] As Figure 1 shown, an intelligent unpacking and stacking platform for flat-layer vault operations includes a WMS system, a scheduling system, an RFID device, and a machine control system with a robotic arm. The scheduling system, the RFID device, and the machine control system are all connected to the WMS system. A 3D vision recognition component connected to the machine control system is configured on the robotic arm.

[0024] The WMS system is used to bind the cash box with the pallet carrying the cash box; it is also used to calculate whether there is a pallet to be unpacked and stacked in the flat-layer vault according to the business type and the binding situation of all pallet cash boxes in the flat-layer vault. When it is calculated that there is a pallet to be unpacked and stacked, a status detection signal is sent to the machine control system.

[0025] The machine control system is used to detect the status of the robotic arm after receiving the status detection signal, obtain a robotic arm status signal, and feedback the robotic arm status signal to the WMS system.

[0026] The WMS system is also used to decide whether to send a first scheduling task signal to the scheduling system according to the robotic arm status signal.

[0027] The scheduling system is used to control the AGV handling robot to transport the required pallet to be unpacked and stacked to the storage position under the robotic arm according to the first scheduling task signal after receiving the first scheduling task signal. After the AGV handling robot completes the handling task, a handling task completion signal is feedback to the WMS system.

[0028] The WMS system is also used to bind the pallet to be unpacked and stacked with the storage position under the robotic arm and modify the handling task status after receiving the handling task completion signal, and judge whether all the required pallets to be unpacked and stacked are located at the storage position under the robotic arm. When all the required pallets to be unpacked and stacked are located at the storage position under the robotic arm, a pallet all-in-place information is feedback to the machine control system.

[0029] The machine control system is also used to, after receiving the information that all pallets are in place, start the 3D vision recognition component to perform color recognition on the money boxes on the pallet to be disassembled and obtain the position mapping data of the money boxes, determine whether to generate a disassembly task according to the color recognition result, and after generating the disassembly task, adjust the grasping path and posture according to the position mapping data of the money boxes and a preset grasping strategy to control the robotic arm to perform a grasping action. After the robotic arm performs the grasping action, confirm the grasping state through the force feedback data of the force sensor on the robotic arm, and feed back the grasping state to the WMS system;

[0030] The WMS system is also used to control the RFID device to turn on after receiving the grasping state;

[0031] The RFID device is used to collect the label information of the money box grasped by the robotic arm through an anti-collision algorithm and upload the label information of the money box grasped by the robotic arm to the WMS system;

[0032] The WMS system is also used to calculate the target position of the money box according to the label information of the money box grasped by the robotic arm, obtain the target position information of the money box, and send the target position information of the money box to the machine control system;

[0033] The machine control system is also used to control the robotic arm to place the grasped money box at the target position of the money box according to the target position information of the money box, and after the robotic arm stacks the grasped money box at the target position of the money box, feed back the stacking completion information to the WMS system;

[0034] The WMS system is also used to modify the binding status of the corresponding money box and pallet after receiving the stacking completion information.

[0035] An intelligent disassembly and coding platform for flat-floor vault operations in the present invention realizes intelligent disassembly and coding tasks for flat-floor vault operations by comprehensively controlling an AGV robot, a robotic arm, and an RFID device through a WMS system, a scheduling system, and a machine control system, thereby completing automatic sorting, combined palletizing, storage, and shelving processing of money boxes, without manual operation, solving the problems of high labor intensity and high error rate of personnel, and being traceable at any link; at the same time, it realizes the automation of pallet warehousing and money box sorting, improves the business handling efficiency and inventory space utilization rate, and improves the prevention and control level, physical warehousing capacity, and warehouse automation management level of the cash operation center.

[0036] 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.

[0037] 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;

[0038] The WMS system is specifically configured to temporarily not issue the first scheduling task signal when the robotic arm status signal is the first status signal, and issue the first scheduling task signal when the robotic arm status signal is the second status signal.

[0039] In some embodiments, the robotic arm status signal further includes a third status signal, which is a status signal other than the first status signal and the second status signal;

[0040] The WMS system is further configured to query whether there is a pallet to be unpacked and coded in the flat storage vault when the robotic arm status signal is the third status signal, and issue a status detection signal to the machine control system when a pallet to be unpacked and coded is found.

[0041] In some embodiments, starting the 3D vision recognition component to obtain the box position mapping data of the boxes on the pallet to be unpacked and coded specifically means scanning each box on the pallet to be unpacked and coded through the 3D vision recognition component to collect the point cloud data of each box, and performing noise reduction and registration preprocessing on the collected point cloud data to extract the spatial position, orientation, and stacking state information of each box on the pallet to be unpacked and coded; the spatial position, orientation, and stacking state information of each box constitute the box position mapping data.

[0042] In some embodiments, the boxes include a deposit box with a first color, a transfer and deposit box with a second color, a voucher box with a third color, and a precious metal box with a fourth color;

[0043] When the color recognition result is the second color or the third color or the fourth color, the machine control system generates the unpacking and coding task.

[0044] In some embodiments, when the box grabbed by the robotic arm is a transfer and deposit box, the target position of the box is the inbound integration pallet; when the box grabbed by the robotic arm is a voucher box, the target position of the box is the voucher pallet;

[0045] The WMS system is specifically configured to find the corresponding pallet to be unpacked and coded as the inbound integration pallet or the voucher pallet according to the label information of the transfer and deposit box or the voucher box, query the position of the storage location under the robotic arm where the inbound integration pallet or the voucher pallet is located, and send the position of the storage location under the robotic arm where the inbound integration pallet or the voucher pallet is located to the machine control system;

[0046] The machine control system is specifically configured to, after receiving the position of the lower storage location of the robotic arm where the inbound integration tray or the voucher tray is located, control the 3D vision recognition component to locate the position of the lower storage location of the robotic arm where the inbound integration tray or the voucher tray is located, obtain first positioning data, calculate a target stacking position based on the first positioning data, and control the robotic arm to stack the grabbed cash boxes according to the target stacking position.

[0047] In some embodiments, when the cash box grabbed by the robotic arm is a precious metal box, the target position of the cash box is the in-library three-dimensional shelf.

[0048] The WMS system is specifically configured to calculate a first available storage location code on the in-library three-dimensional shelf according to the label information of the precious metal box, and send the first available storage location code to the machine control system.

[0049] The machine control system is specifically configured to, after receiving the first available storage location code, match first point position information according to the first available storage location code, and control the robotic arm to stack the grabbed cash boxes according to the first point position information.

[0050] Specifically, due to the area limitation of the flat-layer vault, there is no suitable storage space for the cash boxes, and they can only be placed on the ground trays, without fully utilizing other spaces in the library. Therefore, to solve this problem, the present invention provides a fixed in-library three-dimensional shelf, which can stack more cash boxes. The robotic arm in the present invention is fixedly arranged beside the in-library three-dimensional shelf, and the lower storage location of the robotic arm is arranged below the robotic arm.

[0051] In some embodiments, the machine control system is further configured to, when the color recognition result is the first color, feedback the color recognition result representing the first color to the WMS system.

[0052] The WMS system is further configured to control the RFID device to turn on after receiving the color recognition result representing the first color.

[0053] The RFID device is further configured to collect the label information of the storage boxes on the tray to be disassembled and stacked through an anti-collision algorithm, and upload the label information of the storage boxes on the tray to be disassembled and stacked to the WMS system.

[0054] 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;

[0055] 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.

[0056] 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;

[0057] 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.

[0058] 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 and send it to the scheduling system after the destacking task of the current pallet to be destacking is completed;

[0059] The scheduling system also schedules the AGV robot to evacuate the current pallet to be de-coded from the storage position under the robot arm to an idle storage position in the flat vault after the de-coding task is completed according to the starting point and target point of the second scheduling task.

[0060] In an intelligent unpacking and decoding platform for flat-layer vault business of the present invention, the WMS system will select the current task or queued task as the task being executed and start execution. The rule for generating fetching tasks is: one task is generated for each money box; the task generation also follows the principle of "fetching less rather than more". For example, when all the grey deposit boxes at a non-operating branch have been shelved, the WMS system compares the number of money boxes on the inbound pallet with the number of money boxes on the outbound pallet, and selects the pallet with fewer money boxes to generate a fetching task, and fetches the fewer money boxes onto the pallet with more money boxes. The WMS system calculates the combined pallets required for the inbound route based on the category of inbound money boxes and the business situation of the branch where the money boxes belong the next day. There are three types of combined pallets: inbound mixed, outbound pending, and voucher pallets; when any required type of pallet does not exist, an empty pallet will be selected instead. The sorting rule for inbound money boxes is: the machine control system uses 3D vision to judge the color of the money boxes, splits the transfer boxes onto the inbound mixed pallet, places the voucher boxes on the voucher pallet, and shelves the precious metal boxes for storage. If all branches on the current route are operating, the grey deposit boxes will not be fetched; if there is a non-operating branch on the current route, after the WMS system determines to replenish the outbound pending pallet, it will send the task to the dispatching system. The dispatching system dispatches the AGV robot to move an empty pallet to the storage position under the robotic arm. After the AGV robot finishes moving, it notifies the dispatching system, and the dispatching system notifies the WMS system of the completion signal. The WMS system binds the pallet with the position and modifies the status of the handling task.

[0061] In the present invention, if the RFID device information collection is abnormal, the system will automatically retry. After three consecutive failures, the WMS system automatically assigns the abnormal position of the stereoscopic shelf. The WMS system issues the abnormal storage location code to the machine control system. The machine control system matches the position information according to the received storage location code and issues the position information to the robotic arm. The robotic arm moves to the stacking position according to the position, places the money box on the abnormal storage location. After the stacking is completed, the robotic arm notifies the machine control system. After the machine control system receives the stacking completion information, it notifies the WMS system. The WMS system records the abnormal position information and waits for manual processing.

[0062] In the present invention, after the task of the current pallet is completed, the WMS system queries the idle storage positions in the warehouse and creates a task to issue to the dispatching system. The dispatching system dispatches the AGV robot to evacuate the corresponding pallet from the storage position under the robotic arm to the idle storage position according to the starting position and target position of the task.

[0063] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 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 further used to modify the binding status of the corresponding box and the pallet after receiving the stacking completion information; 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 an abnormal location to the three-dimensional shelf in the warehouse. The WMS system will send the abnormal location code to the machine control system. The machine control system will match the point information according to the received location code and send the point information to the robotic arm. The robotic arm will move to the stacking position according to the point and place the cash box on the abnormal location.

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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