Device and method for providing tray of value documents to robotic unit

Abstract

The invention relates to a device (1) for providing value document trays (11, 21) to a robotic unit (3). The device (1) comprises a set (10) of value document trays (11), wherein each value document tray (11) is configured to receive a plurality of value documents (5). The device (1) further comprises a support structure (30) configured to receive a first supply layer (31) for receiving the value document tray (11). The support structure (30) may allow a movement (35) of the value document tray (11) in the first supply layer (31) between a first access position (12) and a first actuation position (13). The first access position (12) represents a position of the value document trays (11) in which each value document tray (11) can be accessed by the robot unit (3), allowing the robot unit (3) to remove the value document (5) from each value document tray (11).

Description

Technical Field

[0001] This disclosure generally relates to a logistics system for efficiently handling pallets of valuable documents. In particular, the invention relates to a method and apparatus for providing pallets of valuable documents to a robotic unit. The invention also relates to an apparatus comprising the aforementioned apparatus, a robotic unit, and a valuable document processing device. Background Technology

[0002] Valuable document processing equipment is used in various applications, such as banknote processing equipment. Such banknote processing equipment may include banknote stacking systems, banknote sorting systems, banknote single-sorting systems, or combinations thereof. Typically, a valuable document tray is used to transfer valuable documents to and from the corresponding valuable document processing device. Furthermore, a robotic unit can be used to remove valuable documents from the tray and place them into the input compartment of the valuable document processing device, or the robotic unit can remove valuable documents from the output stacker of the valuable document processing device and place them into the tray.

[0003] An input module for a valuable document processing device can be provided, which carries filled trays of valuable documents and moves them one by one to a removal position within the input module, where the valuable documents are removed from the trays by means of a robotic unit and inserted into the input compartment of the valuable document processing device. However, removing valuable documents from trays delivered one by one can be inefficient because removing an empty tray from the removal position introduces a time delay before the subsequent tray is positioned.

[0004] It can be seen that the purpose of this invention is to improve the processing flow during the processing of valuable documents.

[0005] Apparatus and methods according to the features of the independent claims are provided. Further embodiments will be apparent from the dependent claims and the following description.

[0006] According to one aspect, an apparatus is provided for providing a tray of valuable documents to a robotic unit. The apparatus includes a support structure configured to receive a first supply layer having a first loading unit. The first loading unit is movable within the first supply layer relative to the support structure and configured to receive a first set of valuable document trays. The first loading unit is also configured to allow movement of the first set of valuable document trays in the first supply layer between a first access position and a first operating position. The first access position represents the position of the first set of valuable document trays in the first supply layer, wherein each valuable document tray in the first set of trays is accessible by the robotic unit, thereby allowing the robotic unit to remove valuable documents from each valuable document tray in the first set of trays. In the first access position, the position of the first set of trays in the first supply layer such that / all valuable document trays in the first set of trays are simultaneously accessible by the robotic unit.

[0007] Using the apparatus of this invention, multiple valuable document trays can be simultaneously positioned at access locations, i.e., within the access range of adjacent robot units, allowing the robot units to subsequently access all trays without removing any trays from the access locations. In other words, all trays can remain in the first access location and can subsequently be emptied. In this way, there is no time delay between removing valuable documents from two different valuable document trays. That is, after the robot unit empties the first valuable document tray, the first valuable document tray does not need to be removed from the access location and replaced by the second valuable document tray; the second valuable document tray must first be brought into the access location. Conversely, the robot unit can begin removing a stack of valuable documents from the second valuable document tray immediately after it has removed the stack of valuable documents from the first valuable document tray. The trays do not need to change position during the subsequent emptying of the trays by the robot unit.

[0008] Furthermore, the device of the present invention provides multiple trays at once, allowing idle time before the next operator activity is required. In other words, it acts as a buffer for valuable document trays. The buffering effect is even greater by using a device with trays in at least two supply layers. Moreover, it provides the robot with several valuable document trays that can be accessed simultaneously with minimal space requirements.

[0009] A device that enables several valuable document trays in one or more supply layers allows for the creation of different "tasks" for the trays, such as "empty trays to be filled" or "filled trays to be emptied." Therefore, the device can be flexibly used for different applications simply by programming it for the required task and feeding the desired empty or filled valuable document trays to the device.

[0010] This device enables efficient processing of valuable documents and can be operated safely and ergonomically by the operator to insert or remove the valuable document tray from the device. In one example, the device may include a housing with an automatically opening door near the operator's processing position, as explained in more detail below.

[0011] As described above, the device includes a support structure defining or accommodating one or more supply layers, each of which may be equipped with a corresponding loading unit. The support structure may include a frame configured to mount a conveying mechanism, such as a loading unit, by means of which valuable document trays can move within one or more supply layers. At least two valuable document trays can be received adjacent to each other on a first / second loading unit in a direction perpendicular to the direction of movement of the respective loading unit. Specifically, the first supply layer may represent a movement area in which the first loading unit can simultaneously move a first group of valuable document trays, for example, when the valuable document trays are arranged adjacent to each other. The movement area may extend between a first access position and a first operating position, in which a robotic unit simultaneously accesses all valuable document trays in the first group, and in the first operating position, an operator can simultaneously access all valuable document trays in the first group. The valuable document trays of the first group can move simultaneously between the first access position and the first operating position. During this movement, the valuable document trays of the first group can be positioned on the first loading unit.

[0012] The support structure may include a track system, a first loading unit, and thus a first set of valuable document trays that can move on the track system within the first supply layer, i.e., between a first access position and a first operating position. The device may include a drive unit, such as a motor unit, that initiates movement of the first loading unit, thereby initiating movement of the first set of valuable document trays within the first supply layer. The movement of the first set of valuable document trays within the first supply layer may be linear.

[0013] The first loading unit may be a bracket, such as a sliding bracket, on which the valuable document trays of the first set of valuable document trays may be placed. The first loading unit may be movably attached to a support structure. For example, the first loading unit may be linearly movable relative to the support structure, such that the first loading unit and thus the trays placed thereon can move back and forth within a first supply layer between a first access position and a first operating position. In one example, the support structure may include a track system on which the first loading unit can slide between the first access position and the first operating position.

[0014] Note that the support structure may include at least one additional supply layer, such as a second supply layer as explained below. In one example, the support structure may include several supply layers, such as four or more, where each supply layer may represent a movement area in which a corresponding set of valuable document trays can move between a corresponding access position and a corresponding manipulation position, in which a robot unit can access all the valuable document trays in the corresponding set, and in the corresponding manipulation position, an operator can access all the valuable document trays in the corresponding set. Different supply layers may be provided at different levels or heights within the device. In particular, different supply layers may be arranged one on top of another within the support structure of the device. In one example, the device may include four supply layers, each accommodating a corresponding loading unit and four trays, such that the device can accommodate a total of 16 trays.

[0015] The first access location can be defined as an area or zone within the working range of adjacent robot units. Specifically, the gripper of the robot unit can reach every point within the first access location, enabling the robot unit to grasp valuable documents or stacks of valuable documents present in the first access location. Therefore, if the device has moved the first set of valuable document trays to the first access location, all trays of that first set of valuable document trays can be within the working range of the robot unit and thus reachable by the gripper of the robot unit, allowing the robot unit to remove valuable documents from all valuable document trays within the first access location. The robot unit can selectively grasp and / or remove valuable documents from one valuable document tray of the first set of valuable document trays, but not necessarily from all valuable document trays of the first set of valuable document trays. Specifically, if the first set of valuable document trays is within the working range of the robot unit, the robot unit can, based on selection, grasp valuable documents from only one, two, or more valuable document trays, but not necessarily from all valuable document trays.

[0016] Simultaneous placement of the first set of valuable document trays within the first access position allows each tray in the first set of valuable document trays to be emptied without altering the arrangement of any valuable document trays in the first set. In other words, the robot unit has no idle time and can subsequently empty all valuable document trays in the first set. Therefore, no operator activity is required to feed new trays. If all valuable document trays in the first set have been emptied, the valuable document trays in the first set can be simultaneously moved to the first operating position, where they can be refilled or removed and exchanged with filled trays. Meanwhile, the second set of valuable document trays may already be positioned at the second access position, allowing the robot unit to continue removing valuable documents from the second set of valuable document trays located at the second access position. The positioning of different sets of valuable document trays can be performed by the respective loading units. The movement of the loading units can be controlled independently. Movement control of valuable document tray groups in different supply layers can be performed by the control unit, which will be explained in more detail below.

[0017] All valuable document trays in the first set can be oriented in the same direction when positioned in the first access position, when positioned in the first operating position, and / or when moving between the first access position and the first operating position. The valuable document trays may be part of the apparatus of the present invention or may be provided separately. In particular, other containers or boxes similar to the first set of valuable document trays may be received by the first loading unit for transfer between the first access and operating positions.

[0018] According to one embodiment, the first operating position represents the location of the first set of valuable document trays in the first supply layer, wherein each of the valuable document trays in the first set of valuable document trays can be accessed by the operator of the device.

[0019] The first operating position can be defined as an area or zone within the operator's permissible working range. Specifically, the operator can reach the first operating position, enabling them to access the valuable document trays present within it. Therefore, if the device has moved the first set of valuable document trays to the first operating position, all trays of that first set may be within the operator's working range, thus allowing the operator to reach them and remove all valuable document trays from the device within the first operating position, and / or insert new valuable document trays into the device, i.e., place them in the first operating position. Note that the operator can be a human or another robotic unit.

[0020] According to one embodiment, the first loading unit is configured to position at least one of the first set of valuable document trays so as to allow the robot unit to fill the at least one valuable document tray with valuable documents when the first set of valuable document trays is in a first access position.

[0021] This means that the arrangement of the valuable document trays in the first group of valuable document trays can be adjusted to allow the removal of valuable documents from all valuable document trays in the first group of valuable document trays, unless at least one of the valuable document trays in the first group of valuable document trays is to be filled with valuable documents. In other words, the device, specifically the first loading unit, can be configured to transport at least one filled valuable document tray from the first access position to a first operating position, where the operator can empty at least one valuable document tray from the first group of valuable document trays. For example, the at least one valuable document tray can transmit rejected valuable documents, which are output (e.g., rejected) by the valuable document processing device, to the first operating position.

[0022] According to one embodiment, the first loading unit is configured to simultaneously move each of the first set of valuable document trays in the first supply layer between a first access position and a first operating position.

[0023] The first loading unit may include a rigid frame structure on which all the valuable document trays of the first group are positioned. This allows all the valuable document trays of the first group to move simultaneously within the first supply layer.

[0024] According to one embodiment, the first loading unit includes a plurality of separate receiving areas, each of which is configured to receive a corresponding valuable document tray from a first set of valuable document trays.

[0025] The receiving areas can be separated by separating elements (e.g., wall-like or frame-like elements), allowing the valuable document trays to be securely received within their respective receiving areas. The separating elements can provide lateral stability to the valuable document trays, preventing unintended lateral movement of the trays when moving between the first access position and the first operating position. Additional features, such as hooks, recesses, or protrusions, can be formed on the first loading unit to prevent unintended forward or backward movement of the trays when moving between the first access position and the first operating position.

[0026] According to one embodiment, the first loading unit is configured to allow a first set of valuable document trays to move along a first direction of movement, such that during the movement, the first set of valuable document trays are arranged adjacent to each other along a first lateral direction perpendicular to the first direction of movement.

[0027] A first direction of movement defines the direction of movement of the first loading unit and / or the first set of valuable document trays as they move from a first operating position to a first access position or vice versa. During the movement of the first loading unit and thus the first set of valuable document trays along the first direction of movement, each tray can be positioned adjacent to each other, and all trays can be oriented identically. In this way, all trays arrive at the first access position or the first operating position simultaneously and / or with the same orientation.

[0028] According to one embodiment, a support structure is configured to accommodate a second supply layer having a second loading unit, wherein the second loading unit is movable relative to the support structure within the second supply layer and is configured to receive a second set of valuable document trays, wherein the second loading unit is configured to allow the second set of valuable document trays in the second supply layer to move between a second access position and a second operating position, wherein the second access position represents the position of the second set of valuable document trays in the second supply layer, in which each valuable document tray in the second set of valuable document trays can be accessed by a robot unit, thereby allowing the robot unit to remove valuable documents from each valuable document tray in the second set of valuable document trays, wherein the second loading unit is preferably configured to allow each valuable document tray in the second set of valuable document trays in the second supply layer to move simultaneously between the second access position and the second operating position.

[0029] In other words, the support structure can provide at least two supply layers, wherein in each of the two supply layers, the corresponding sets of valuable document trays can move in the same manner. Therefore, all the features and characteristics described with respect to the first supply layer, the first loading unit, the first set of valuable documents, the first access position, and the first operating position can be equally applied to the second supply layer, the second loading unit, the second set of valuable documents, the second access position, and the second operating position, respectively.

[0030] It is possible that the first loading unit can move independently of the second loading unit. However, the movement of the second loading unit in the second supply layer can be parallel or antiparallel to the movement of the first loading unit in the first supply layer. Therefore, the first set of valuable document trays can move independently of the second set of valuable document trays, and the movement of the second set of valuable document trays in the second supply layer can be parallel or antiparallel to the movement of the first set of valuable document trays in the first supply layer. The support structure can be designed to accommodate the supply layer such that the second supply layer is arranged above the first supply layer within the device. However, it is possible that the second supply layer is arranged beside the first supply layer within the device. Such an arrangement allows different supply layers to be served alternately by the robotic unit.

[0031] The second loading unit can be a bracket, such as a sliding bracket, on which the valuable document trays of the second set of valuable document trays can be placed. The second loading unit can be movably attached to a support structure. For example, the second loading unit can move linearly relative to the support structure, such that the second loading unit and thus the trays placed thereon can move back and forth within the second supply layer between a second access position and a second operating position. In one example, the support structure may include a track system on which the second loading unit can slide between the second access position and the second operating position.

[0032] The robot unit can selectively grab and / or remove valuable files from one of the valuable file trays in the second set of valuable file trays, but not necessarily from all of them. Specifically, if the second set of valuable file trays is within the robot unit's working range, the robot unit can, based on selection, grab valuable files from only one, two, or more of these trays, but not necessarily from all of them.

[0033] According to one embodiment, the second operating position represents the position of the second operating layer, where each of the second set of valuable document trays can be accessed by the operator of the device.

[0034] The second operating position can be defined as an area or zone within the operator's permissible working range. Specifically, the operator can reach the second operating position, enabling them to access the valuable document trays present within it. Therefore, if the device has moved the second set of valuable document trays to the second operating position, all trays of that second set may be within the operator's working range and thus accessible to the operator's hand, allowing the operator to remove all valuable document trays from the device within the second operating position and / or insert new valuable document trays into the device, i.e., place them in the second operating position.

[0035] Possibly, the device is configured to control the movement of the first and second sets of valuable document trays such that if the second set of valuable document trays is in the second operating position, the first set of valuable document trays can be in the first access position or the first intermediate position. In other words, the first and second sets of valuable document trays can move independently of each other. This can be achieved through corresponding movement of the first loading unit relative to the second loading unit.

[0036] As described above, the second loading unit can be specifically configured such that each of the second set of valuable document trays in the second supply layer moves simultaneously between the second access position and the second operating position.

[0037] According to one embodiment, the device includes a control unit configured to control the movement of a first set of valuable document trays in a first supply layer and the movement of a second set of valuable document trays in a second supply layer, such that when the second set of valuable document trays is in a second access position, the first set of valuable document trays moves away from the first access position, and in particular, such that when the second set of valuable document trays is in the second access position, the first set of valuable document trays is located in a first operating position or in a first intermediate position between the first access position and the first operating position, or between the first operating position and the first intermediate position.

[0038] This means that the control unit can control the drive unit (e.g., a motor) to move the loading unit, and thus the sets of valuable documents within their respective layers. In one example, the control unit can be configured to control the movement of a first set of valuable document trays in a first supply layer and a second set of valuable document trays in a second supply layer, such that when the second set of valuable document trays is in a second access position, the first set of valuable document trays is in a first operating position. This allows an operator to remove the first set of valuable document trays from the device and / or insert a new first set of valuable document trays into the device in the second operating position, while the robot unit empties the second set of valuable document trays in the second access position.

[0039] In one example, the control unit is configured to control the movement of a first loading unit in a first supply layer and the movement of a second loading unit in a second supply layer, such that when the second loading unit is in a second access position, the first loading unit moves away from the first access position.

[0040] According to one embodiment, the control unit is configured to stop the movement of a first set of valuable document trays in a first supply layer at an intermediate position between a first access position and a first operating position, wherein the control unit is configured to hold the first set of valuable document trays at the intermediate position when a second set of valuable document trays is in a second access position.

[0041] This allows the first set of valuable document trays to be held in the parking position, i.e., the intermediate position, so that once the robotic unit empties or fills the second set of valuable document trays at the second access position, the first set of valuable document trays can immediately move to the first access position. Once the trays of the second set of valuable document trays are emptied or filled, they are removed from the second access position, and the first set of valuable document trays can be transferred to the first access position, allowing the robotic unit to immediately resume operations on the first set of valuable document trays. This further reduces the idle time of the robotic unit and makes the process more efficient.

[0042] In one example, the control unit is configured to stop the movement of the first loading unit in the first supply layer at an intermediate position, and is also configured to hold the first loading unit at the intermediate position when the second loading unit is in the second access position.

[0043] According to one embodiment, the device includes a housing unit having a door mechanism adjacent to a first operating position, wherein the door mechanism is configured to switch between an open configuration and a closed configuration, wherein in the open configuration, an operator can access the first operating position, and wherein in the closed configuration, an operator is prevented from entering the first operating position.

[0044] The door mechanism can actuate a first door, which opens the access portion to a first operating position, allowing the operator to remove the first set of valuable document trays from the device when the first set of valuable document trays is in the first operating position. The first door can remain open until the operator has inserted and placed a new first set of valuable document trays in the first operating position.

[0045] Similarly, the door mechanism can actuate a second door that opens the access portion to the second operating space, allowing the operator to remove the second set of valuable document trays from the device when the second set of valuable document trays is in the second operating position. The second door can remain open until the operator has inserted and placed a new second set of valuable document trays in the second operating position.

[0046] According to one embodiment, the door mechanism is configured to remain closed when the first set of valuable document trays moves away from the first operating position, wherein the door mechanism is configured to remain open when the first set of valuable document trays is in the first operating position.

[0047] Specifically, the door mechanism can also be controlled by the device's control unit. Control of the door mechanism can be performed, for example, by controlling the opening or closing of the corresponding door, so that the corresponding operating position can only be accessed when the tray is present in the corresponding operating position, i.e., when the tray is stationary in the operating position. Otherwise, access to the operating position may be blocked by the corresponding door. Therefore, the risk of injury to the operator from moving the valuable document tray remains low.

[0048] Specifically, control of the door mechanism can be implemented such that the door does not open before the valuable document tray, which should be removed by the operator, reaches the operating position. Additionally or alternatively, control of the device or its corresponding loading unit can be implemented such that the valuable document tray inserted by the operator in the operating position does not begin to move from the operating position to the access position until the corresponding door closes.

[0049] The housing encloses the entire device, preventing the operator from accidentally contacting any of its components. This provides improved safety for the operator when using the device.

[0050] In one example, the door mechanism is configured to remain closed when the first loading unit moves away from the first operating position, while the door mechanism is configured to remain open when the first loading unit is in the first operating position.

[0051] According to one aspect, an apparatus is provided comprising the device and robot unit of the present invention as described herein. The robot unit is configured to remove valuable documents from one or more of the first set of valuable document trays in a first access position, and to carry the removed valuable documents to another location inside or outside the apparatus; and / or the robot unit is configured to remove valuable documents from another location inside or outside the apparatus and insert such valuable documents into one or more of the first set of valuable document trays when the first set of valuable document trays is in the first access position.

[0052] Specifically, the robot unit can transfer valuable documents from another device or compartment to the device of the present invention and / or the robot unit can transfer valuable documents from the device of the present invention to another device or compartment.

[0053] According to one embodiment, the device further includes a valuable document processing device, such as a banknote processing device, configured to process (in particular, examine) valuable documents (e.g., banknotes) received in the valuable document input compartment of the valuable document processing device, and to convey the processed (in particular, examined) valuable documents to at least one output compartment of the valuable document processing device. A robotic unit (described above) is configured to remove valuable documents from one or more or each of the first set of valuable document trays (filled or partially filled with valuable documents) when the first set of valuable document trays is in a first access position of the device. The robotic unit may be configured to provide the removed valuable documents to the valuable document input compartment of the valuable document processing device (as an example of another location outside the device described above). In one example, the robotic unit may be configured to directly insert the valuable documents removed from one or more valuable document trays into the input compartment of the valuable document processing device. In another example, the robot unit may be configured to indirectly insert valuable documents removed from the valuable document tray into the input compartment of the valuable document processing device, for example, after an intermediate stop in an optional first intermediate station, so as to align and / or collect (by the robot unit) the valuable documents removed from the valuable document tray in the first intermediate station, and then remove the aligned and / or collected valuable documents from the first intermediate station and insert them (by the robot unit) into the input compartment of the valuable document processing device.

[0054] Additionally or alternatively, the robot unit may be configured to remove valuable documents processed by the valuable document processing device from one or more of the output compartments of the valuable document processing device (particularly from rejection compartments or output stackers, as an example of another location outside the aforementioned device), and to insert processed / checked valuable documents into one or more (empty or partially filled) valuable document trays in the first set of valuable document trays when the first set of valuable document trays is in the first access position. In one example, the robot unit may be configured to directly insert valuable documents removed from one or more output compartments into one or more valuable document trays. In another example, the robot unit may be configured to indirectly insert valuable documents removed from one or more output compartments into one or more valuable document trays, for example, after an intermediate stop in an optional first intermediate station, in order to align and / or collect valuable documents removed from one or more output compartments (by the robot unit) in the first intermediate station, and then remove the aligned and / or collected valuable documents from the first intermediate station and insert them (by the robot unit) into one of the valuable document trays.

[0055] Additionally or alternatively, the robot unit may be configured to provide valuable documents removed from one or more of the first set of valuable document trays to a valuable document input compartment of an additional valuable document processing device located within the robot's working range when the first set of valuable document trays is in the first access position, for example, located next to the aforementioned valuable document processing device (as an example of another location outside the aforementioned device).

[0056] Additionally or alternatively, the robot unit may be configured to remove valuable documents processed by the additional valuable document processing device from one or more of the plurality of output compartments of the additional valuable document processing device (particularly from rejection compartments or output stackers, as an example of another location outside the aforementioned device), and when the first set of valuable document trays is in the first access position, insert valuable documents processed / checked by the additional valuable document processing device into one or more (empty or partially filled) valuable document trays in the first set of valuable document trays.

[0057] According to one embodiment, a robot unit is configured to remove valuable documents from one or more of the first set of valuable document trays when the first set of valuable document trays is in a first access position, and to provide the removed valuable documents to the valuable document input compartment of a valuable document processing device, wherein the device further includes other inventive devices as described herein, and a second robot unit configured to remove valuable documents processed by the valuable document processing device from the output compartment (particularly the rejection compartment) of the valuable document processing device, and to insert the processed valuable documents into one or more valuable document trays received in another device, particularly when another first set of valuable document trays of the other device is in a first access position of another first loading unit of the other device, and to insert them into one or more valuable document trays of another first set of valuable document trays.

[0058] In other words, one or more additional devices of the present invention may be part of the apparatus of the present invention. One or more additional robotic units may interact with these additional devices of the present invention and / or valuable document processing devices.

[0059] According to one embodiment, the robot unit is configured to remove valuable documents from one or more or each of the first set of valuable document trays (filled or partially filled with valuable documents) when the first set of valuable document trays is in a first access position of the device, and to provide the removed valuable documents:

[0060] - To one or more other valuable document trays in the first supply layer of the device (to the "tray to be filled") (as an example of another location mentioned above within the device), or

[0061] - To one or more other valuable document containers (as an example of another location outside the aforementioned device), such as a valuable document tray, arranged within the working range of the robot unit.

[0062] Additionally or alternatively, the robot unit may be configured to remove valuable documents from one or more other valuable document containers (e.g., valuable document trays) arranged within the working range of the robot unit (as an example of another location outside the aforementioned device), and to insert the removed valuable documents into one or more (empty or partially filled) valuable document trays of the first set of valuable document trays when the first set of valuable document trays is in the first access position.

[0063] Another valuable document container arranged within the working range of the robot unit (where valuable documents removed from the first set of valuable document trays are provided to or removed from the other valuable document container) may be a valuable document tray received in another of the devices of the present invention described herein. The access location of the first set of trays of the additional device is located within the working range of the robot unit, and the corresponding valuable document tray is located at the access location of the manipulation layer of the additional device.

[0064] According to one aspect, a method is provided for moving valuable documents using a device (particularly the device of the present invention as described herein) and a robotic unit.

[0065] The method may include providing a first set of valuable file trays, wherein each valuable file tray in the first set of valuable file trays is configured to receive multiple valuable files.

[0066] The method may also include receiving a first set of valuable document trays in a first operating position of a first supply layer, the supply layer being housed by a support structure.

[0067] The method may further include moving a first set of valuable document trays in the first supply layer from a first manipulation position to a first access position within the working range of the robot unit.

[0068] The method includes the following steps: when the first set of valuable document trays is in a first access position within the device, using a robotic unit to remove valuable documents from one or more of the first set of valuable document trays, and using the robotic unit to carry the removed valuable documents to another location inside or outside the device, particularly to a valuable document input compartment configured as a valuable document processing device for processing valuable documents, or to one or more other valuable document trays in the first supply layer, or to one or more other valuable document containers, such as valuable document trays, arranged within the working range of the robotic unit.

[0069] Additional or alternative steps of the method include using a robotic unit to bring in valuable documents from another location inside or outside the device, and using the robotic unit to insert these valuable documents into one or more of the first set of valuable document trays when the first set of valuable document trays is in the first access position.

[0070] The steps of bringing valuable documents from inside or outside the device into the device via a robotic unit specifically include the following steps:

[0071] - When the first set of valuable document trays is in the first access position, the robot unit removes the valuable documents processed by the valuable document processing device from the output compartment, particularly the rejection compartment, of the valuable document processing device, and inserts the processed valuable documents into one or more valuable document trays of the first set of valuable document trays, or

[0072] - When the first set of valuable document trays is in the first access position, the robot unit removes valuable documents from one or more other valuable document containers (e.g., valuable document trays) arranged within the working range of the robot unit, and inserts the removed valuable documents into one or more valuable document trays of the first set of valuable document trays by the robot unit.

[0073] According to one example, a first method is provided for providing a tray of valuable documents to a robotic unit. In one step of the method, a robotic unit and a first set of valuable document trays are provided, wherein each valuable document tray in the first set is configured to receive multiple valuable documents. In another step, the first set of valuable document trays is received in a first operating position of a first supply layer, which is housed by a support structure. In yet another step, the first set of valuable document trays is moved from the first operating position to a first access position within the working range of the robotic unit in the first supply layer, wherein the first set of valuable document trays can stop and be positioned at the first access position. In yet another step, after the first set of valuable document trays has been moved to the first access position, the robotic unit removes valuable documents from one or more of the valuable document trays in the first set and provides the removed valuable documents.

[0074] -To the valuable document input compartment of the valuable document processing device configured to process valuable documents, or

[0075] -To one or more other valuable document trays in the first supply layer (at their access location), or

[0076] - To one or more other valuable document containers, such as valuable document trays, arranged within the working range of the robot unit.

[0077] In the first method, when the first set of valuable document trays is in the first access position (i.e., without moving the first set of valuable documents), the robot unit can continuously remove valuable documents one after another from at least two valuable document trays of the first set of valuable document trays.

[0078] In the first method, the valuable document containers of the first set of valuable document trays provided by the device are fully or partially filled with valuable documents, and the robot unit removes the valuable documents from the valuable document trays provided by the device.

[0079] Based on one example, a second method for providing a valuable document tray to a robotic unit is provided, comprising the following steps:

[0080] Provide robot units;

[0081] Provide a first set of valuable file trays, wherein each valuable file tray in the first set of valuable file trays is configured to receive multiple valuable files;

[0082] In a first operating position of the first supply layer, a first set of valuable document trays is received (e.g., provided by an operator), the supply layer being housed by a support structure;

[0083] The first set of valuable document trays in the first supply layer is moved from the first operating position to the first access position within the working range of the robot unit; optionally, the robot unit can remove valuable documents from the valuable document trays at the first access position, especially if the valuable document trays have not been emptied, the valuable document trays are emptied.

[0084] And when the first set of valuable document trays is in the first access position, the valuable documents processed by the valuable document processing device are removed from the output compartment (especially the rejection compartment) of the valuable document processing device by the robotic unit, and the processed valuable documents are inserted into one or more valuable document trays of the first set of valuable document trays by the robotic unit, or

[0085] When the first set of valuable document trays is in the first access position, the robot unit removes valuable documents from one or more other valuable document containers (e.g., valuable document trays) arranged within the working range of the robot unit, and inserts the removed valuable documents into one or more valuable document trays of the first set of valuable document trays by the robot unit.

[0086] In the second method, when the first set of valuable document trays is in the first access position (i.e., without moving the first set of valuable documents), the robot unit can continuously insert valuable documents one after another into at least two valuable document trays of the first set of valuable document trays.

[0087] In the second method, the valuable document containers of the first set of valuable document trays provided by the device to the robot are empty or partially filled, and the robot unit fills the valuable documents into the valuable document trays provided by the device.

[0088] The method steps can be executed in the indicated order. Attached Figure Description

[0089] The invention will be described below in conjunction with the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0090] Figure 1 A perspective view of a device for providing a tray of valuable documents to a robotic unit is shown.

[0091] Figure 2 It shows including Figure 1 A top view of the device.

[0092] Figure 3 It shows Figure 1 Detailed view of the support structure of the device.

[0093] Figure 4 It shows Figure 2 The device has a valuable document tray at the access point.

[0094] Figure 5 It shows Figure 2 The device, in which the valuable document tray is in an offset position.

[0095] Figure 6 It shows Figure 2 The device contains a valuable document tray in a manipulating position.

[0096] Figure 7 It shows Figure 2 The device has a tray for valuable documents in the middle.

[0097] Figure 8 It shows Figure 1 The door mechanism of the device.

[0098] Figure 9 It shows Figure 1 The device, wherein the first door is in the open configuration and the second door is in the closed configuration.

[0099] Figure 10 It shows including Figure 1 The apparatus and other equipment.

[0100] Figure 11 A flowchart is shown illustrating a method for moving valuable documents using a robotic unit. Detailed Implementation

[0101] The representations and illustrations in the accompanying drawings may be schematic and not to scale. A better understanding of the above-described apparatus, devices, and methods can be obtained by reading the illustrated figures and the detailed description below. In all the drawings, the same reference numerals denote the same or at least similar elements.

[0102] Figure 1A perspective view of a device 1 for providing valuable document trays 11, 21 to a robot unit 3 is shown. The device 1 includes a support structure 30 that houses a first or lower supply layer 31 and a second or upper supply layer 32.

[0103] The support structure 30 supports the first loading unit 33, such as a bracket or slide-like carrier, on which a first set 10 of valuable document trays 11 can be received, and the first loading unit 33 is movable relative to the support structure 30 within the first supply layer 31. Specifically, the first set 10 of valuable document trays 11 is movable within the first supply layer 31 between a first access position 12 and a first operating position 13. For better illustration, Figure 1 Only one of the ten valuable document trays 11 in the first group 10 is shown. However, it should be understood that the first group 10 valuable document trays 11 may include multiple valuable document trays 11 arranged adjacent to each other, such as... Figure 2 As shown. The entire first group 10 of the valuable document tray 11 can move simultaneously between the first access position 12 and the first operating position 13 in the first supply layer 31.

[0104] When the first set of 10 valuable document trays 11 is in the first access position 12, the robot unit 3, arranged adjacent to the device 1, can access each of the 10 valuable document trays 11 in the first set of 10, thereby allowing the robot unit 3 to remove valuable documents from each of the 10 valuable document trays 11 in the first set of 10, or to load valuable documents into at least one of the 10 valuable document trays 11 in the first set of 10. For example, the robot unit 3 can grab valuable documents from any of the trays in the first set of 10 valuable document trays 11 and insert them into the adjacent valuable document processing device 2, which is located in... Figure 1 Only a portion is shown in the diagram. However, the robot unit 3 can also grab valuable documents from the output compartment of the valuable document processing device 2 (e.g., the rejection compartment of the valuable document processing device 2), and can subsequently insert the rejected valuable documents into one or more trays 11 of the first set of 10 valuable document trays 11.

[0105] When the first set of 10 valuable document trays 11 is in the first operating position 13, each valuable document tray 11 in the first set of 10 valuable document trays 11 can be accessed by the operator 50 of the device 1, enabling the operator 50 to remove each valuable document tray 11 in the first set of 10 valuable document trays 11 from the device 1 and / or insert a new first set of 10 valuable document trays 11 into the device 1, each tray containing valuable documents to be processed by the valuable document processing device 2. Note that in the first operating position 13, if the robot unit 3 has already filled the trays 11 with rejected valuable documents at the first access position 13, the operator 50 can also remove one or more filled (rejected) valuable document trays 11 from the device 1.

[0106] The support structure 30 also supports a second loading unit 34, such as a bracket or a slide-like bracket, on which a second set 20 of valuable document trays 21 are received, and the second loading unit 34 is movable relative to the support structure 30 within the second supply layer 32. Specifically, the second set 20 of valuable document trays 21 is movable within the second supply layer 32 between a second access position 22 and a second operating position 23. For better illustration, Figure 1 Only one of the valuable document trays 21 in the second group 20 is shown. However, it should be understood that the second group 20 valuable document trays 21 may include multiple valuable document trays 21 arranged adjacent to each other, such as... Figure 2 As shown. The entire second group 20 valuable document tray 21 can move simultaneously between the second access position 22 and the second operating position 23 in the second supply layer 32.

[0107] When the second set of 20 valuable document trays 21 is in the second access position 22, the robot unit 3 can access each of the valuable document trays 21 in the second set of 20 valuable document trays 21, thereby allowing the robot unit 3 to remove valuable documents from each of the valuable document trays 21 in the second set of 20 valuable document trays 21, or to fill each of the valuable document trays 21 in the second set of 20 valuable document trays 21 with valuable documents. For example, the robot unit 3 can grab valuable documents from any tray in the second set of 20 valuable document trays 21 and insert them into the adjacent valuable document processing device 2. However, the robot unit 3 can also grab valuable documents from the output compartment of the valuable document processing device 2 (e.g., the rejection compartment of the valuable document processing device 2), and can subsequently insert rejected valuable documents into one or more trays 21 of the second set of 20 valuable document trays 21.

[0108] When the second set of 20 valuable document trays 21 is in the second operating position 23, each valuable document tray 21 in the second set of 20 valuable document trays 21 can be accessed by the operator 50 of the device 1, enabling the operator 50 to remove each valuable document tray 21 in the second set of 20 valuable document trays 21 from the device 1 and / or insert a new second set of 20 valuable document trays 21 into the device 1, each tray containing valuable documents to be processed by the valuable document processing device 2. Note that in the second operating position 23, if the robot unit 3 has already filled the trays 21 with rejected valuable documents at the second access position 23, the operator 50 can also remove one or more filled (rejected) valuable document trays 21 from the device 1.

[0109] In one example, the first group of 10 valuable document trays 11 may include four valuable document trays 11 arranged adjacent to each other. Therefore, the second group of 20 valuable document trays 21 may also include four valuable document trays 11 arranged adjacent to each other. Figure 1 As can be seen, the second loading unit 34 provides four separate receiving areas 21a, 21b, 21c, and 21d, each of which is configured to receive a corresponding valuable document tray 21 from the first set of 20 valuable document trays 21. The first loading unit 33 can be connected to... Figure 2 The exported version is constructed in the same way.

[0110] Device 1 may also include housing unit 70, which may include a frame-like structure with walls and door mechanisms (see below). Figure 8 and Figure 9 In addition, the device 1 may include a control unit 60, which is communicatively coupled to the device 1 and configured to control the movement of the first loading unit 33, thereby controlling the movement of the first set 10 valuable document trays 11 within the first supply layer 31, and the movement of the second loading unit 34, thereby controlling the movement of the second set 20 valuable document trays 21 within the second supply layer 32.

[0111] Figure 2 It shows including Figure 1 A top view of device 100 of apparatus 1. Apparatus 100 also includes, as already described above... Figure 1 The robot unit 3 and the valuable document processing device 2 are described. The valuable document processing device 2 is configured to feed individual valuable documents received in the valuable document input compartment 201, identify them, and sort them by conveying them to different output compartments. Figure 2In the illustrated configuration, the second set of 20 valuable document trays 21 is located at the second access position 22 (indicated by the dashed rectangle on the left), and the first set of 10 valuable document trays 11 is located at the first manipulation position 13 (indicated by the dashed rectangle on the right). Therefore, the robot unit 3 can reach and receive all valuable documents 5 within any of the valuable document trays in the second set of 20 valuable document trays 21, and remove valuable documents 5 from any of the valuable document trays 21 in the second set of 20 valuable document trays 21. It should be noted that in Figure 2 In this top view, the first access position 12 is covered by the tray 21 in the second access position 22 because the second access position 22 is located above the first access position 12 (see again). Figure 1 (This shows a second supply layer 32 positioned above the first supply layer 31). Because the first set of 10 valuable document trays 11 is in the first operating position 13, the operator 50 can reach any of the valuable document trays 11 in the first set of 10 to remove a valuable document tray 11 from the first supply layer 31 and / or insert a new valuable document tray 11 into the first supply layer 31. It should be noted that in... Figure 2 In this top view, the first operating position 13 is located below the second operating position 23. However, since the tray 21 in the second group of 20 trays 21 is currently in the second access position 22 and therefore does not cover the first operating position 13, the first group of 10 trays 11 can be identified (see again). Figure 1 (It shows that the second preparatory layer 32 is arranged above the first preparatory layer 31). For illustrative purposes, Figure 2 Exemplary illustration shows that only a portion of each of the first and second groups 10, 20, value document trays 11, 21 is filled with value document 5.

[0112] Figure 2 Also shown are receiving areas 21a, 21b, 21c, and 21d provided by the second loading unit 34 (see also...) Figure 1 The receiving areas 21a, 21b, 21c, and 21d are separated by frame-like or rod-like structures. Each of the receiving areas 21a, 21b, 21c, and 21d can receive a corresponding valuable document tray 21 from the second set of 20 valuable document trays 21. In the same manner, the receiving areas 11a, 11b, 11c, and 11d can be provided by the first loading unit 33 (see also...). Figure 1 The receiving areas 11a, 11b, 11c, and 11d are separated by frame-like or rod-like structures. Each of the receiving areas 11a, 11b, 11c, and 11d can receive a corresponding valuable document tray 11 from the first set of 10 valuable document trays 11.

[0113] The support structure 30 is configured to allow the first set of 10 valuable document trays 11 to move 35 between the first access position 12 and the first operating position 13 in the first supply layer 31. This movement 35 can be as follows: Figure 2 The linear movement 35 is indicated by the arrow in the diagram. The support structure 30 can also be configured to allow the second set 20 of the valuable document tray 21 to move 36 between the second access position 22 and the second operating position 23 within the second supply layer 32. This movement 36 can also be as follows: Figure 2 The arrow in the diagram indicates a linear movement of 36.

[0114] Figure 3 It shows Figure 1 A detailed view of the support structure 30 of the device 1. It can be seen that the support structure 30 may include a track system with rails 37 on which the first set 10 of the valuable document tray 11 can move within the first supply layer 31, i.e., between the first access position 12 and the first operating position 13 (see also...). Figure 1 and Figure 2 The support structure 30 may also include a track system with rails 38, on which the second set 20 of the valuable document tray 21 can move within the second supply layer 32, i.e., between the second entry position 22 and the second operating position 23 (see also...). Figure 1 and Figure 2 The housing unit 70 that can surround device 1 can be arranged as follows: Figure 3 The wheel system shown allows the entire device 1 to move within a valuable document processing environment.

[0115] from Figures 1 to 3 It can be concluded that the arrangement of the first supply layer 31 and the second supply layer 32 allows the robot unit 3 to alternately (i.e., at different levels) handle the tray 11 at the first access position 12 and the tray 21 at the second access position 22. For example, when the robot gripper of the robot unit 3 accesses the valuable document tray 21 of the second supply layer 32, i.e., the tray 21 in the second access position 22 is within the working range of the robot gripper, the tray 11 in the first supply layer 31 can be moved to the first operating position 13, where the operator 50 removes the valuable document tray 11 from the first supply layer 31 and places another (filled) valuable document tray 11 into the first supply layer 31 of the device 1 at the first operating position 13. Then, the new tray 11 in the first preparation layer 31 can move toward the first access position 12, thereby entering the working range of the robot gripper. After the robot gripper has completed its operation on the valuable document tray 21 located in the second supply layer 32, it continues its operation on the new valuable document tray 11 that has just arrived at the first access position 11.

[0116] Figures 4 to 7 It shows Figure 2 The device 100 includes a valuable document tray 11, 21 (indicated by a thick solid line) from either the first group 10 or the second group 20 of the device 1, which has different positions within the first supply layer 31 or the second supply layer 32. In other words, the exemplary valuable document trays 11, 21 can be either the valuable document tray 11 of the first group 10 or the valuable document tray 21 of the second group 20. Figures 4 to 7 This aims to explain which designated locations within device 1 the valuable document trays 11 and 21 can be taken. Therefore, it should be understood that regarding... Figures 4 to 7 The following considerations also apply to both the valuable document tray 11 of the first group 10 and the valuable document tray 21 of the second group 20. Figures 4 to 7 The valuable documents contained in the filled tray are not shown.

[0117] Figure 4 It shows Figure 2 The device 100 has (filled or empty) valuable document trays 11, 21 located at access positions 12, 22. Therefore, corresponding loading units 33, 34 can be arranged at access positions 12, 22, which allows the robot unit 3 to empty or fill trays 11, 21.

[0118] The first sensor unit can be positioned at access points 12 and 22 to detect whether the trays 11 and 21 have arrived at or are present at access points 12 and 22. The sensor information can then be used to control the operation of the robot unit 3.

[0119] Figure 5 Exemplary (filled or empty) valuable document trays 11 and 21 are shown in an offset position, slightly shifted toward processing positions 13 and 23. However, this offset position can still be considered part of access positions 13 and 22, allowing the robot unit 3 to still access trays 11 and 21 at this offset position. The offset position may be attributed to the arrangement of the robot unit 3 relative to the device 1, meaning that trays 11 and 21 may be shifted approximately 20 cm to 30 cm toward processing positions 13 and 23 to improve the access of the robot unit 3 relative to the trays 11 and 21 closest to it, especially to increase the distance between the nearest portion of the tray (located on the side of the robot unit 3 in tray 11) and the robot.

[0120] Figure 6 Exemplary valuable document trays 11 and 21 in operating positions 13 and 23 are shown. Therefore, corresponding loading units 33 and 34 can be arranged in operating positions 13 and 23, which allows operator 50 (see...) Figure 2Remove (empty or filled) trays 11, 21 and / or insert new (empty or filled) trays 11, 21.

[0121] Figure 7 It shows Figure 2 Device 100, wherein (empty or filled) valuable document trays 11, 21 are in intermediate positions 14, 24. For example, the valuable document tray 11 of the first group 10 can stop at the first intermediate position 14, and the valuable document tray 21 of the second group 20 can stop at the second intermediate position 24. In one example, control unit 60 (see...) Figure 1 The control unit 60 can be configured to stop the movement 35 of the first set 10 valuable document trays 11 in the first supply layer 31 at a first intermediate position 14 located between the first access position 12 and the first operating position 13. Accordingly, the control unit 60 can be configured to stop the movement 36 of the second set 20 valuable document trays 21 in the second supply layer 32 at a second intermediate position 24 located between the second access position 22 and the second operating position 23. The intermediate positions 14 and 24 may also be referred to herein as parking positions.

[0122] Figure 8 It shows Figure 1 The device 1 includes a door mechanism 73. As described above, the device 1 includes a housing unit 70, and the door mechanism 73 can be mounted to the housing unit 70 near the first and second operating positions 13, 23. The door mechanism 73 is configured to switch between an open configuration and a closed configuration 75. For example, Figure 8 A configuration is shown in which the first door 71 is currently switching from a closed configuration to an open configuration, while the second door 72 is in a closed configuration 75. In this case, the operator 50 (see...) Figure 1 and Figure 2 It is impossible to enter the interior of housing 70. Door mechanism 73 can be configured as a garage door mechanism. In an alternative example, a curtain can be provided to open or close operating positions 13, 23.

[0123] The second sensor unit can be installed near doors 71 and 72 to detect the presence of the tray at operating positions 13 and 23. Information collected by the second sensor unit can be used to control doors 71 and 72. The second sensor unit can also monitor the current configuration of each of doors 71 and 72, i.e., whether they are open or closed. In this way, the door mechanism 73 can be automatically controlled using information from the second sensor unit.

[0124] Additional limiters 77 and 78, in the form of bars or rods, can be integrated into the housing 70. These limiters 77 and 78 can restrict operator 50 access to the device 1, which increases safety during operation of the device 1. In addition, the limiters 77 and 78 facilitate the operator's removal of trays 11 and 21 from operating positions 13 and 23 or facilitate the introduction of trays 11 and 21 into operating positions 13 and 23.

[0125] Figure 9 It shows Figure 1 Device 1, wherein the first door 71 is in the open configuration 74 and the second door 72 is in the closed configuration 75. In this case, the operator 50 (see...) Figure 1 and Figure 2 Operator 50 can approach or reach the first operating position 13 to remove tray 11 from device 1 or insert a new tray 11 into device 1 from the first operating position 13. However, the corresponding second door 72 is closed, preventing operator 50 from accessing or reaching the second operating position 23. This enhances the safety of operator 50 working with device 1, as operator 50 can only access operating positions 13, 23 when the corresponding trays 11, 21 are present.

[0126] Figure 8 Control elements 61 and 62, corresponding to supply layers 31 and 32 respectively, are also shown. The first control element 61 (e.g., a first button) can be communicatively coupled to the control unit 60 (see [link]). Figure 1 This initiates movement 35 of the first set of 10 valuable document trays 11 toward the first access position 12, which may also include switching the first door 71 to a closed configuration before removing the trays 11. A second control element 62 (e.g., a second button) may be communicatively coupled to the control unit 60 (see [link to control unit]). Figure 1 This can also include switching the second door 72 to a closed configuration before removing the tray 21, which may initiate the movement 36 of the second set 20 valuable document tray 21 toward the second contact position 22.

[0127] Figure 10 It shows including Figure 1 Device 1 and another device 1' of device 100. In particular, Figure 10 It shows Figure 2 The device 100 is constructed in which there is another (second) device 1' and a second robot unit (3').

[0128] As described above, the robot unit 3 is configured to remove a valuable document 5 from one or more of the valuable document trays 11 in the first group 10 when the first group 10 valuable document trays 11 are in the first access position 12, and to provide the removed valuable document 5 to the valuable document input compartment 201 of the valuable document processing device 2. In this example, the device 100 also includes another device 1', which may be a device with the same construction and features as device 1. The device 100 also includes a second robot unit 3', which is configured to remove the valuable document 5 processed by the valuable document processing device 2 from the output compartment (particularly the rejection compartment) of the valuable document processing device 2, and to insert the processed valuable document 5 into one or more of the valuable document trays 11' received in the other device 1', particularly into one or more of the other first group 10' valuable document trays 11', when the other device 1's other first group 10' valuable document trays 11' are in the first access position 12' of the other device 1's other first loading unit 33'.

[0129] In one example, robot unit 3 may be configured to directly insert the valuable document 5 removed from the valuable document tray 11 into the input compartment 201 of the valuable document processing device 2. In another example, robot unit 3 may also be configured to indirectly insert the valuable document 5 removed from the valuable document tray 11 into the input compartment 201 of the valuable document processing device 2, for example, after an intermediate stop in the first intermediate station 4, wherein the valuable document 5 removed from the valuable document tray 11 by robot unit 3 is aligned and / or collected by the first intermediate station 4, and then robot unit 3 removes the aligned and / or collected valuable document 5 from the first intermediate station 4 and inserts them into the input compartment 201 of the valuable document processing device 2.

[0130] In another embodiment, indirect insertion via intermediate station 4 (inserting a valuable document 5 removed from the valuable document tray 11 into input compartment 201) can also be performed without providing additional device 1' and without providing a second robot unit 3', for example with Figure 2 In the relevant embodiments, intermediate station 4 is used to align and / or collect valuable documents removed from valuable document tray 11, and to transfer them to and from intermediate station 4 via robot unit 3, as described above.

[0131] Additionally or alternatively, the robot unit 3 may be configured to remove valuable documents 5 processed by the valuable document processing device 2 from one or more of the plurality of output compartments of the valuable document processing device 2 (particularly from the rejection compartment or output stacker), and to insert the processed / inspected valuable documents 5 into one or more (empty or partially filled) valuable document trays 11 of the first set 10 valuable document trays 11 when the first set 10 valuable document trays 11 are in the first access position 12.

[0132] In one example, robot unit 3 may be configured to directly insert valuable documents 5 removed from one or more output compartments into one of the valuable document trays 11. In another example, robot unit 3 may also be configured to indirectly insert valuable documents 5 removed from one or more output compartments into one of the valuable document trays 11, for example, after an intermediate stop in a first intermediate station 4, where valuable documents 5 removed by robot unit 3 from one or more output compartments are aligned and / or collected by means of the first intermediate station 4, and then robot unit 3 removes the aligned and / or collected valuable documents 5 from the first intermediate station 4 and inserts them into one of the valuable document trays 11.

[0133] In another embodiment, indirect insertion via intermediate station 4 (inserting a valuable document 5 removed from one or more output compartments into one of the valuable document trays 11) can also be performed without providing additional device 1' and without providing a second robot unit 3', for example with Figure 2 In related embodiments, intermediate station 4 is used to align and / or collect valuable documents removed from one or more output compartments, and transports them to and from intermediate station 4 via robot unit 3, as described above.

[0134] The second robot unit 3' can operate in the same or similar manner as the (first) robot unit 3. Specifically, the second robot unit 3' can be configured to directly insert valuable documents 5 removed from the valuable document tray 11' of another device 1' into the input compartment 201 of the valuable document processing device 2. In another example, the second robot unit 3' can also be configured to indirectly insert valuable documents 5 removed from the valuable document tray 11' of another device 1' into the input compartment 201 of the valuable document processing device 2, for example after an intermediate stop in the second intermediate station 4', where valuable documents 5 removed by robot unit 3' from the valuable document tray 11' are aligned and / or collected by means of the second intermediate station 4', and then robot unit 3' removes the aligned and / or collected valuable documents 5 from the second intermediate station 4' and inserts them into the input compartment 201 of the valuable document processing device 2.

[0135] Additionally or alternatively, the second robot unit 3' may be configured to remove valuable documents 5 processed by the valuable document processing device 2 from one or more of the plurality of output compartments of the valuable document processing device 2 (particularly from the rejection compartment or output stacker), and to insert the processed / checked valuable documents 5 into one or more (empty or partially filled) valuable document trays 11' of the other first set 10' valuable document trays 11' in the other device 1' when the other first set 10' valuable document trays 11' are in the first access position 12' of the other device 1'.

[0136] In one example, the second robot unit 3' may be configured to directly insert valuable documents 5 removed from one or more output compartments into one of the other first set of 10' valuable document trays 11'. In another example, the second robot unit 3' may also be configured to indirectly insert valuable documents 5 removed from one or more output compartments into one of the other first set of 10' valuable document trays 11', for example after an intermediate stop in the second intermediate station 4', where valuable documents 5 removed by robot unit 3' from one or more output compartments are aligned and / or collected by means of the second intermediate station 4', and then robot unit 3' removes the aligned and / or collected valuable documents 5 from the second intermediate station 4' and inserts them into one of the other first set of 10' valuable document trays 11'.

[0137] Figure 10 The equipment can also be provided without the first intermediate station 4, that is, only a second intermediate station 4' is provided for the other device 1'.

[0138] (First) device 1 and the other device 1' can be housed in a common housing. Separating element 6, such as a separating wall, can be arranged between (first) device 1 and the other device 1'.

[0139] Figure 11 A flowchart is shown of a method for moving a valuable document 5 using a device (e.g., device 1 as described above) and a robot unit (e.g., robot unit 3 as described above).

[0140] The method may include providing a first set of 10 valuable file trays 11, wherein each of the 10 valuable file trays 11 in the first set of 10 is configured to receive a plurality of valuable files 5.

[0141] The method may also include receiving a first set of 10 valuable document trays 11 in a first operating position 13 of the first supply layer 31, the first supply layer 31 being accommodated by a support structure 30.

[0142] The method may further include moving the first set of 10 valuable document trays 11 from the first operating position 13 in the first supply layer 31 to the first access position 12 within the working range of the robot unit 3.

[0143] Step S1 of the method includes removing a valuable document 5 from one or more valuable document trays 11 in the first group 10 when the first group 10 valuable document trays 11 are in the first access position 12 within the device 1, and step S2 of the method includes using the robot unit 3 to take the removed valuable document 5 to another location inside or outside the device 1, in particular to the valuable document input compartment 201 of the valuable document processing device 2 configured to process the valuable document 5, or to one or more other valuable document trays 11 in the first supply layer 31, or to one or more other valuable document containers, such as valuable document trays, arranged within the working range of the robot unit 3.

[0144] Additional or alternative step S3 of the method includes bringing in the valuable documents 5 from another location inside or outside the device 1, and step S4 of the method includes inserting the valuable documents 5 into one or more of the valuable document trays 11 in the first set of 10 when the first set of 10 valuable document trays 11 is in the first access position 12. Steps S3 and S4 may be performed in addition to, or as an alternative to, steps S1 and S2.

[0145] Step S3, which involves bringing valuable documents from another location, either inside or outside the device 1, via robot unit 3, specifically includes the following steps:

[0146] - When the first set of 10 valuable document trays 11 is in the first access position 12, the robot unit 3 removes the valuable document 5 processed by the valuable document processing device 2 from the output compartment (especially the rejection compartment) of the valuable document processing device 2, and inserts the processed valuable document 5 into one or more valuable document trays 11 of the first set of 10 valuable document trays 11, or

[0147] - When the first group 10 valuable document trays 11 are in the first access position 12, the valuable document 5 is removed from one or more other valuable document containers (e.g., valuable document trays) arranged in the working range of the robot unit 3 by the robot unit 3, and the removed valuable document 5 is inserted into one or more valuable document trays 11 of the first group 10 valuable document trays 11 by the robot unit 3.

[0148] In one example, there could be a method for providing a valuable document tray to a robotic unit. This method could be described as described above regarding... Figures 1 to 9The method is performed by the described apparatus 1 or device 100. The steps of the method include providing a first set of 10 valuable document trays 11, wherein each of the first set of 10 valuable document trays 11 is configured to receive a plurality of valuable documents 5. The steps of the method include receiving the first set of 10 valuable document trays 11 in a first supply layer 31 housed by a support structure 30. The steps of the method include moving the first set of 10 valuable document trays 11 in the first supply layer 31 from a first operating position 13 to a first access position 12. The steps of the method include, after the first set of 10 valuable document trays 11 has moved to the first access position 12, providing access to each of the first set of 10 valuable document trays 11 to a robot unit 3, thereby allowing the robot unit 3 to remove valuable documents 5 from each of the first set of 10 valuable document trays 11.

[0149] Valuable files 5 can be removed from tray 11 in a stacked manner. That is, robot unit 3 can remove multiple valuable files 5 at the same time, for example, as a stack of valuable files.

[0150] In one example, the method may include additional steps. For instance, robot unit 3 may remove stacks of valuable documents 5 from only some of the provided valuable document trays 11 in the first set of 10 valuable document trays 11 and place the stacks of valuable documents 5 into the input compartment 201 of the valuable document processing device 2. When these trays 11 are in the first access position 12, other trays 11 in the first set of 10 valuable document trays 11 that are empty or only partially filled with valuable document stacks may be filled by robot unit 3. These empty or only partially filled trays 11 may be filled with valuable document stacks by robot unit 3. In particular, robot unit 3 may therefore pick up rejected valuable documents 5, i.e., valuable documents 5 collected in the rejection compartment of the valuable document processing device 2 or valuable documents 5 from other devices, such as valuable document stack alignment devices, valuable document 5 collection devices, or collectors. Robot unit 3 may then place these valuable documents 5 into the other trays 11.

[0151] In another example, several of the valuable document trays 11 in the first set of 10 valuable document trays 11 with valuable document 5 can be emptied by the robot unit 3 at the first access position 12, while one tray 11 will be filled by the robot unit 3 at the first access position 12 with the rejected valuable document 5.

[0152] For example, in Figures 1 to 9In the context of the first group of 10 trays 11, there are four trays 11. In this case, three trays 11 (also known as filling trays) will be emptied by robot unit 3 at the first access position 12, and once robot unit 3 has finished emptying the three trays 11, robot unit 3 can continue to fill or partially fill one remaining tray 11 (also known as rejecting tray) with rejected valuable documents 5.

[0153] Subsequently, the first set of trays 11 (now comprising three empty trays 11 and one filled or partially filled tray 11) can be moved from the first access position 12 to the first operating position 13 within the first supply layer 31, so that the robot unit 3 can continue to process the second set of 20 valuable document trays 21, which have simultaneously been moved from the second operating position 23 or from the second intermediate position 24 to the second access position 22.

[0154] exist Figures 1 to 9 In the context of this, the second group of 20 trays 21 also has four trays 21. In this case, three trays 21 (again referred to as filling trays) will be emptied by robot unit 3 at the second access position 22, and once robot unit 3 has finished emptying the three trays 21, robot unit 3 can continue to fill or partially fill one remaining tray 21 (again referred to as rejecting tray) with rejected valuable documents 5.

[0155] Subsequently, a second set of trays 21, now comprising three empty trays 21 and one filled or partially filled tray 21, can be moved from the second access position 22 to the second operating position 23 within the second supply layer 32, allowing the robot unit 3 to continue processing a third set of valuable documents simultaneously supplied via the third supply layer to the third access position, or the robot unit 3 can again continue processing the first set of 10 valuable document trays 11 simultaneously supplied via the first supply layer 31. This process can be repeated.

[0156] In yet another example, robot unit 3 can remove valuable documents 5 from valuable document trays 11 and 21, and can place the removed valuable documents 5 into one or more other valuable document trays within the working range of robot unit 3, such as in a tray next to the robot, or in a tray provided by another or more inventive devices 1', such as near inventive devices 1 and robot unit 3, instead of placing them into valuable document processing device 2. During the placement of valuable documents 5 into other valuable document trays, robot unit 3 can sort the valuable documents 5 according to at least one of the following: valuable document type (denomination and / or currency), valuable document orientation (one of four possible orientations), or valuable document status (e.g., compliant, non-compliant, ATM-compliant).

[0157] In yet another example, robot unit 2 may remove a valuable document from the output compartment of the valuable document processing device, or from one or more other valuable document trays within the working range of robot unit 3 (e.g., from a tray next to the robot, or from a tray provided by another device 1' of the present invention), and place the removed document in the valuable document tray 11 provided at the access location of device 1. During the placement of the valuable document 5 into the valuable document tray of the device, robot unit 3 may sort the valuable document 5 according to at least one of the following: valuable document type (denomination and / or currency), valuable document orientation (one of four possible orientations), or valuable document status (e.g., compliant, non-compliant, ATM-compliant).

Claims

1. A device (1) for providing a valuable document tray (11, 21) to a robot unit (3), comprising: The support structure (30) is configured to accommodate a first supply layer (31) having a first loading unit (33); The first loading unit (33) is movable relative to the support structure (30) within the first supply layer (31) and is configured to receive the first set (10) of valuable document trays (11). The first loading unit (33) is configured to allow the first set (10) of valuable document trays (11) to move (35) between the first access position (12) and the first operating position (13) in the first supply layer (31). Wherein, the first access position (12) represents the position of the first group (10) of valuable document trays (11) in the first supply layer (31). In the first access position (12), each of the valuable document trays (11) in the first group (10) of valuable document trays (11) can be accessed by the robot unit (3), thereby allowing the robot unit (3) to remove valuable documents (5) from each of the valuable document trays (11) in the first group (10) of valuable document trays (11).

2. The apparatus (1) according to claim 1. in, The first operating position (13) represents the position of the first group (10) of valuable document trays (11) in the first supply layer (31), in which each of the first group (10) of valuable document trays (11) can be accessed by the operator (50) of the device (1).

3. The apparatus (1) according to any one of the preceding claims. in, The first loading unit (33) is configured to position at least one of the first set (10) of valuable document trays (11) so that when the first set (10) of valuable document trays (11) is in the first access position (12), the robot unit (3) is allowed to fill the at least one valuable document tray (11) with a valuable document (5).

4. The apparatus (1) according to any one of the preceding claims. in, The first loading unit (33) is configured to move each of the first set (10) of the valuable document trays (11) simultaneously between the first access position (12) and the first manipulation position (13) in the first supply layer (31).

5. The apparatus (1) according to any one of the preceding claims. in, The first loading unit (33) includes a plurality of separate receiving areas (11a, 11b, 11c, 11d), each of which is configured to receive a corresponding valuable file tray (11) in the first set (10) of valuable file trays (11).

6. The apparatus (1) according to any one of the preceding claims. in, The first loading unit (33) is configured to allow the first set (10) of valuable document trays (11) to move (35) along a first moving direction, such that during the movement (35), the first set (10) of valuable document trays (11) are arranged adjacent to each other along a first lateral direction perpendicular to the first moving direction.

7. The apparatus (1) according to any one of the preceding claims. in, The support structure (30) is configured to accommodate a second supply layer (32) having a second loading unit (34); The second loading unit (34) is movable relative to the support structure (30) within the second supply layer (32) and is configured to receive a second set (20) of valuable document trays (21). The second loading unit (34) is configured to allow the second set (20) of valuable document trays (21) to move (36) between the second access position (22) and the second operating position (23) in the second supply layer (32). Wherein, the second access position (22) represents the position of the second group (20) of valuable document trays (21) in the second supply layer (32), and in the second access position (22), each of the valuable document trays (21) in the second group (20) of valuable document trays (21) can be accessed by the robot unit (3), thereby allowing the robot unit (3) to remove the valuable document (5) from each of the valuable document trays (21) in the second group (20); The second loading unit (34) is preferably configured to allow each of the valuable document trays (21) in the second set (20) to move simultaneously between the second access position (22) and the second operating position (23) in the second supply layer (32).

8. The apparatus (1) according to claim 7, comprising: A control unit (60) is configured to control the movement (35) of the first group (10) of valuable document trays (11) in the first supply layer (31) and the movement (36) of the second group (20) of valuable document trays (21) in the second supply layer (32), such that when the second group (20) of valuable document trays (21) is in the second access position (22), the first group (10) of valuable document trays (11) moves away from the first access position (12). The control unit (60) is preferably configured to cause the movement (35) of the first set (10) of the valuable document tray (11) in the first supply layer (31) to stop at a first intermediate position (14) between the first access position (12) and the first operating position (13), and / or The control unit (60) is preferably configured to hold the first group (10) valuable document tray (11) in the first intermediate position (14) when the second group (20) valuable document tray (21) is in the second access position (22).

9. The apparatus (1) according to any one of the preceding claims, comprising: The housing unit (70) has a door mechanism (73) adjacent to the first operating position (13). The door mechanism (73) is configured to switch between an open configuration (74) and a closed configuration (75); In the opening structure (74), the operator (50) is able to access the first operating position (13). In the closing structure (75), the operator (50) is prevented from accessing the first operating position (13). The door mechanism (73) is preferably configured to maintain the closing configuration (75) when the first set (10) of valuable document trays (11) moves away from the first operating position (13), and / or The door mechanism (73) is preferably configured to maintain the open configuration (74) when the first set (10) of valuable document trays (11) is in the first operating position (13).

10. An apparatus (100) comprising: -The apparatus (1) according to any one of the preceding claims; and - Robot unit (3); The robot unit (3) is configured to remove valuable documents (5) from one or more of the valuable document trays (11) in the first group (10) when the first group (10) of valuable document trays (11) is in the first access position (12), and to take the removed valuable documents (5) to another location inside or outside the device (1) and / or The robot unit (3) is configured to bring valuable documents (5) from another location inside or outside the device (1) when the first set (10) of valuable document trays (11) is in the first access position (12) and insert these valuable documents (5) into one or more of the valuable document trays (11) in the first set (10).

11. The device (100) according to claim 10, further comprising: A valuable document processing device (2) is configured to process, in particular examine, valuable documents (5) received in the valuable document input compartment (201) of the valuable document processing device, and transmit the processed, in particular examined valuable documents to at least one output compartment of the valuable document processing device; -In this configuration, the robot unit (3) is configured to remove a valuable document (5) from one or more of the valuable document trays (11) in the first group (10) when the first group (10) of valuable document trays (11) is in the first access position (12), and to provide the removed valuable document (5) to the valuable document input compartment (201) of the valuable document processing device (2), and / or -The robot unit (3) is configured to remove the valuable documents processed by the valuable document processing device (2) from the output compartment, particularly the rejection compartment, of the valuable document processing device (2) when the first group (10) of valuable document trays (11) is in the first access position (12), and insert the processed valuable documents into one or more of the valuable document trays (11) in the first group (10).

12. The device (100) according to claim 11. in, The robot unit (3) is configured to remove a valuable document (5) from one or more of the valuable document trays (11) in the first group (10) when the first group (10) of valuable document trays (11) is in the first access position (12), and to provide the removed valuable document (5) to the valuable document input compartment (201) of the valuable document processing device (2). The device (100) also includes: - The additional device (1') according to any one of claims 1 to 9, and - A second robot unit (3') is configured to remove valuable documents (5) processed by the valuable document processing device (2) from the output compartment, particularly the rejection compartment, of the valuable document processing device (2), and to insert the processed valuable documents (5) into one or more valuable document trays (11') received in the other device (1'), particularly into one or more valuable document trays (11') of the other first set (10') of the other device (1'), when the other first set (12') of the other first loading unit (33') of the other device (1') is in the first access position (12').

13. The device (100) according to claim 10, wherein: - The robot unit (3) is configured to remove a valuable document (5) from one or more valuable document trays (11) in the first group (10) when the first group (10) of valuable document trays (11) is in the first access position (12), and to provide the removed valuable document (5) to: -One or more other valuable document trays in the first supply layer of the device (1), or - One or more other valuable document containers, such as valuable document trays, arranged within the working range of the robotic unit, particularly received in an additional device (1') according to any one of claims 1 to 9. and / or - The robot unit (3) is configured to remove valuable documents from one or more other valuable document containers (e.g., valuable document trays) arranged within the working range of the robot unit (3), particularly received in another device (1') according to any one of claims 1 to 9, and to insert the removed valuable documents into one or more valuable document trays (11) of the first group (10) when the first group (10) of valuable document trays (11) is in the first access position (12).

14. The device (100) according to any one of claims 11 to 12. in, The device (100) further includes a first intermediate station (4) located within the working range of the robot unit (3) and / or a second intermediate station (4') located within the working range of the second robot unit (3'). The robot unit (3) is configured to, after an intermediate stop in the first intermediate station (4), indirectly insert valuable documents (5) removed from one or more valuable document trays (11) in the first group (10) into the input compartment of the valuable document processing device (2), and / or The robot unit (3) is configured to, after an intermediate stop in the first intermediate station (4), indirectly insert valuable documents (5) removed from one or more output compartments of the valuable document processing device (2) into one or more valuable document trays (11) received in the device (1), and / or The second robot unit (3') is configured to, after an intermediate stop in the second intermediate station (4'), indirectly insert valuable documents (5) removed from one or more output compartments of the valuable document processing device (2) into one or more valuable document trays (11') of another first set (10') of valuable document trays (11') received in another device (1') according to any one of claims 1 to 9.

15. A method for moving valuable files (5), said method using: The apparatus (1) according to any one of claims 1 to 9, and Robot unit (3) The method includes the following steps: When the first set (10) of valuable document trays (11) is in the first access position (12) within the device (1, S1), the robot unit (3) removes valuable documents (5) from one or more of the valuable document trays (11) in the first set (10), and the robot unit (3, S2) takes the removed valuable documents (5) to another location inside or outside the device (1), and / or When the first group (10) of valuable document trays (11) is in the first access position (12, S4), the robot unit (3, S3) is used to bring in the valuable documents (5) from another location inside or outside the device (1), and the robot unit (3) is used to insert these valuable documents (5) into one or more of the valuable document trays (11) in the first group (10) of valuable document trays (11).

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