CN119796756B - An intelligent decryption platform for flat vault business - Google Patents
An intelligent decryption platform for flat vault business Download PDFInfo
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- CN119796756B CN119796756B CN202510260212.1A CN202510260212A CN119796756B CN 119796756 B CN119796756 B CN 119796756B CN 202510260212 A CN202510260212 A CN 202510260212A CN 119796756 B CN119796756 B CN 119796756B
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Abstract
本发明涉及一种平层金库业务智能化拆码平台，包括WMS系统、调度系统、RFID设备和带有机械臂的机控系统，调度系统、RFID设备和机控系统均与WMS系统连接，机械臂上配置有与机控系统连接的3D视觉识别组件。本发明通过WMS系统、调度系统和机控系统综合控制AGV机器人、机械臂和RFID设备实现平层金库业务智能化拆码任务，从而完成款箱的自动分拣、合托、寄存和上架处理，无需人员操作，解决人员劳动强度大以及差错率高的问题，且任意环节都可以做到可追溯；同时，实现了托盘入库和款箱分拣的自动化，提升了业务办理效率和库存空间利用率，提高了现金运营中心的防控水平、实物仓储能力以及库房自动化管理水平。
The present invention relates to an intelligent de-coding platform for flat-floor vault business, including a WMS system, a dispatching system, an RFID device and a machine control system with a mechanical arm, wherein the dispatching system, the RFID device and the machine control system are all connected to the WMS system, and the mechanical arm is provided with a 3D visual recognition component connected to the machine control system. The present invention realizes the intelligent de-coding task of flat-floor vault business by comprehensively controlling the AGV robot, the mechanical arm and the RFID device through the WMS system, the dispatching system and the machine control system, thereby completing the automatic sorting, consignment, storage and shelf processing of cash boxes, without the need for human operation, solving the problems of high labor intensity and high error rate of personnel, and any link can be traceable; at the same time, the automation of pallet warehousing and cash box sorting is realized, the business handling efficiency and inventory space utilization rate are improved, and the prevention and control level, physical warehousing capacity and warehouse automation management level of the cash operation center are improved.
Description
Technical Field
The invention relates to the field of intelligentization of a vault service in the financial industry, in particular to an intelligentized unpacking platform for a flat vault service.
Background
The vault is a place for handling and storing real objects such as cash, coins, precious metals, and the like. At present, most of the treasurys are low in automation level, and most of the works are finished manually, including links such as recording, checkout, carrying, storage and the like. Although some mechanical improvements are possible in handling and storage, the functional modules of the entire vault still need to be joined manually, resulting in lower overall efficiency.
Along with the development of technology, various management systems are introduced continuously into the cashbox, but the systems are more prone to realizing data electronization of management layers, and in the aspects of certain business processes, data refinement and safety, phenomena such as manual operation, shortage of technical means and the like still exist, such as paper delivery and manual signature mode of article access and delivery, paper receipt can only be checked afterwards in the article transfer process, the operation progress can not be monitored in real time and known in time, and the delivery articles can not be corrected in time, and the systems are mutually independent due to the fact that different interfaces are different in online, the interfaces are not uniform, the technology generation is poor and the like, information islands are formed, the reaction of all function modules of the cashbox is seriously lagged, the overall efficiency is low, and the state of the cashbox can not be known in real time due to the opacity of process data for the manager of the cashbox, so that the pressure is higher and higher when the cashbox is in response to daily business changes.
For example, in the process of processing the money box business in the prior art, a library manager stacks assembled money boxes on different trays according to line areas, pulls the trays back to the box warehouse for storage, reserves a space beside the corresponding line tray for storing the box deposit tray, stores the box deposit tray in the evening, carries the received money boxes to a buffer area, then carries out manual sorting, and places the box deposit box, the payment box, the noble metal box and the certificate box on different trays and pushes the box deposit box to the box warehouse. The prior art has the problems that a warehouse manager needs to carry a heavy payment box, a noble metal box and a certificate box to other trays, and the labor intensity is high and the warehouse manager is easy to fatigue. The assembled money box occupies large space in the storage of the case and bag warehouse. The stacking is irregular, and the trouble of searching the error money box is caused.
Disclosure of Invention
The invention provides an intelligent unpacking platform for a flat-layer vault business, which aims to solve at least one technical problem.
The intelligent platform for stripping the flat-layer vault business comprises a WMS system, a scheduling system, RFID equipment and a machine control system with a mechanical arm, wherein the scheduling system, the RFID equipment and the machine control system are all connected with the WMS system, and the mechanical arm is provided with a 3D visual identification component connected with the machine control system;
The WMS system is used for binding a money box with a tray carrying the money box, and is also used for calculating whether a tray to be disassembled exists in the flat vault according to the service type and the binding condition Kuang Ji of all tray money boxes in the flat vault and issuing a state detection signal to the machine control system when the tray to be disassembled is calculated;
the mechanical control system is used for detecting the state of the mechanical arm after receiving the state detection signal to obtain a mechanical arm state signal, and feeding the mechanical arm state signal back to the WMS system;
the WMS system is further used for determining whether to issue a first scheduling task signal to the scheduling system according to the mechanical arm state signal;
The scheduling system is used for controlling the AGV carrying robot to carry the required tray to be disassembled to a lower storage position of the mechanical arm according to the first scheduling task signal after receiving the first scheduling task signal, and feeding back a carrying task completion signal to the WMS after the AGV carrying robot completes the carrying task;
the WMS system is further used for binding the tray to be disassembled with the lower storage position of the mechanical arm and modifying the state of the transport task after receiving the transport task completion signal, judging whether all the trays to be disassembled are positioned in the lower storage position of the mechanical arm, and feeding back all the in-place information of the trays to the machine control system when all the trays to be disassembled are positioned in the lower storage position of the mechanical arm;
The machine control system is further used for starting the 3D visual recognition component to perform color recognition and money box position mapping data acquisition on a money box to be disassembled on the tray after receiving all in-place information of the tray, determining whether to generate a disassembling task according to a color recognition result, adjusting a grabbing path and an attitude according to the money box position mapping data and a preset grabbing strategy after generating the disassembling task so as to control the mechanical arm to execute grabbing action, confirming grabbing state through force feedback data of a force sensor on the mechanical arm after the mechanical arm executes grabbing action, and feeding back the grabbing state to the WMS system;
The WMS system is further used for controlling the RFID device to be started after the grabbing state is received;
The RFID device is used for acquiring label information of the money box grabbed by the mechanical arm through an anti-collision algorithm and uploading the label information of the money box grabbed by the mechanical arm to the WMS system;
the WMS system is also used for calculating a cash box target position according to label information of the cash box grabbed by the mechanical arm, obtaining cash box target position information and transmitting the cash box target position information to the machine control system;
The machine control system is further used for controlling the mechanical arm to place the grabbed money box at the money box target position according to the money box target position information, and feeding back stacking completion information to the WMS system after the mechanical arm stacks the grabbed money box at the money box target position;
The WMS system is also used for modifying the binding state of the corresponding money box and the tray after receiving the stacking completion information.
The intelligent disassembling platform for the flat-bed cashbox service has the advantages that the intelligent disassembling platform for the flat-bed cashbox service realizes the intelligent disassembling task of the flat-bed cashbox service by comprehensively controlling an AGV robot, a mechanical arm and an RFID device through a WMS system, a scheduling system and a machine control system, so that automatic sorting, closing, registering and putting-in-frame processing of the cashbox are completed, personnel operation is not needed, the problems of high labor intensity and high error rate of personnel are solved, any links can be traced, simultaneously, automation of pallet warehouse-in and cashbox sorting is realized, service handling efficiency and inventory space utilization rate are improved, and the prevention and control level, physical warehouse energy storage capacity and warehouse automation management level of a cash operation center are improved.
Drawings
Fig. 1 is a block diagram of a flat-layer vault service intelligent stripping platform according to the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
The money box of the cashbox is a box body for containing financial objects, can be set to be different colors according to different financial objects, and specifically can be set to be a deposit box with a first color, a payment box with a second color, a certificate box with a third color and a noble metal box with a fourth color, wherein the first color can be set to be gray, the second color can be set to be red, the third color can be set to be blue and the fourth color can be set to be yellow.
Before warehousing, escort personnel place money boxes to be warehoused on trays in a stacking mode, wherein the money boxes are placed in a lower gray deposit box, a red tone paying box is placed on the tray, at most 15 money boxes are placed on one tray in a stacking mode, and then the tray with the money boxes placed in a stacking mode is pushed into a tunnel machine to enter a vault. Next, the intelligent unpacking platform for the flat-layer vault business is utilized to unpack and stack the money boxes on the trays entering the vault.
As shown in fig. 1, the intelligent platform for removing the codes of the flat-layer vault business comprises a WMS system, a scheduling system, RFID equipment and a machine control system with a mechanical arm, wherein the scheduling system, the RFID equipment and the machine control system are all connected with the WMS system, and the mechanical arm is provided with a 3D visual identification component connected with the machine control system;
The WMS system is used for binding a money box with a tray carrying the money box, and is also used for calculating whether a tray to be disassembled exists in the flat vault according to the service type and the binding condition Kuang Ji of all tray money boxes in the flat vault and issuing a state detection signal to the machine control system when the tray to be disassembled is calculated;
the mechanical control system is used for detecting the state of the mechanical arm after receiving the state detection signal to obtain a mechanical arm state signal, and feeding the mechanical arm state signal back to the WMS system;
the WMS system is further used for determining whether to issue a first scheduling task signal to the scheduling system according to the mechanical arm state signal;
The scheduling system is used for controlling the AGV carrying robot to carry the required tray to be disassembled to a lower storage position of the mechanical arm according to the first scheduling task signal after receiving the first scheduling task signal, and feeding back a carrying task completion signal to the WMS after the AGV carrying robot completes the carrying task;
the WMS system is further used for binding the tray to be disassembled with the lower storage position of the mechanical arm and modifying the state of the transport task after receiving the transport task completion signal, judging whether all the trays to be disassembled are positioned in the lower storage position of the mechanical arm, and feeding back all the in-place information of the trays to the machine control system when all the trays to be disassembled are positioned in the lower storage position of the mechanical arm;
The machine control system is further used for starting the 3D visual recognition component to perform color recognition and money box position mapping data acquisition on a money box to be disassembled on the tray after receiving all in-place information of the tray, determining whether to generate a disassembling task according to a color recognition result, adjusting a grabbing path and an attitude according to the money box position mapping data and a preset grabbing strategy after generating the disassembling task so as to control the mechanical arm to execute grabbing action, confirming grabbing state through force feedback data of a force sensor on the mechanical arm after the mechanical arm executes grabbing action, and feeding back the grabbing state to the WMS system;
The WMS system is further used for controlling the RFID device to be started after the grabbing state is received;
The RFID device is used for acquiring label information of the money box grabbed by the mechanical arm through an anti-collision algorithm and uploading the label information of the money box grabbed by the mechanical arm to the WMS system;
the WMS system is also used for calculating a cash box target position according to label information of the cash box grabbed by the mechanical arm, obtaining cash box target position information and transmitting the cash box target position information to the machine control system;
The machine control system is further used for controlling the mechanical arm to place the grabbed money box at the money box target position according to the money box target position information, and feeding back stacking completion information to the WMS system after the mechanical arm stacks the grabbed money box at the money box target position;
The WMS system is also used for modifying the binding state of the corresponding money box and the tray after receiving the stacking completion information.
The intelligent disassembling platform for the flat-bed cashbox service realizes the intelligent disassembling task of the flat-bed cashbox service by comprehensively controlling the AGV robot, the mechanical arm and the RFID equipment through the WMS system, the dispatching system and the machine control system, thereby completing the automatic sorting, closing, registering and loading treatment of the cashboxes, avoiding personnel operation, solving the problems of high labor intensity and high error rate of personnel, enabling any link to be traceable, simultaneously realizing the automation of pallet warehouse entry and cashbox sorting, improving the service handling efficiency and the utilization rate of inventory space, and improving the control level, the physical warehouse energy storage capacity and the automatic warehouse management level of a cash operation center.
In some embodiments, the WMS system may be implemented within a tunnel machine to bind the cash box to a tray carrying the cash box. The tunnel machine is a security device for limiting personnel access and preventing trailing phenomenon, and safety of entering and exiting a warehouse area is realized by using double-door interlocking control and personnel detection cameras in the tunnel machine. Under the condition of no service, when normal personnel enter and exit, the WMS system verifies personnel permission by identifying face information, the WMS system verifies that a door opening instruction is issued to the tunnel machine system through the WMS system to link the opening and closing of the tunnel machine door, the tunnel machine system starts a camera detection function and a double-door linkage function when the WMS issues service to transact, only one door can be started in the same time, when personnel transact the service, the personnel enter the camera detection area along with a tray when the tunnel machine door is driven to open by the service, the camera detection is automatically triggered, when the personnel enter the tunnel machine, the WMS issues a door closing instruction to the tunnel machine system, when the tunnel machine system executes door closing, the camera fails, prompts an alarm, and when the personnel leave the tunnel machine area, the alarm is closed, the door is automatically closed, and the service transacts. The tunnel machine is also internally provided with a tunnel machine terminal and a tray RFID antenna which are connected with the WMS system, and the tunnel machine terminal is used for escort personnel to operate the tunnel machine equipment to open and close a door and verify information functions of ex-warehouse money box and in-warehouse money box. After the tunnel machine door is successful, the tunnel machine system returns a door closing success signal to the WMS system, the WMS system automatically starts the tray RFID antenna to scan tray information after receiving the door closing signal success, and reports the scanned result to the WMS system, the WMS system feeds back the tray information to the tunnel machine terminal, after the tunnel machine terminal confirms whether the tray information is correct or not, the WMS system issues a door closing assignment, and invokes the tray RFID antenna to scan a money box chip, the tray RFID antenna reports the scanned money box information to the WMS system, the WMS system and the money box information are checked, the checked result is pushed to the tunnel machine terminal to be displayed through the Websocket technology, the money box number and the money box information are confirmed through the tunnel machine terminal, and after the result is confirmed, the WMS system automatically processes the money box and the binding of the tray, so that the money box and the tray are convenient to use in a subsequent disassembling and stacking process.
In some embodiments, the robotic arm status signal comprises a first status signal and a second status signal, the first status signal is a robotic arm having an executing task and having a queuing task or no idle robotic arm lower stock, the second status signal is a robotic arm having an executing task and no queuing task and having an idle robotic arm lower stock;
The WMS system is specifically configured to temporarily not issue the first scheduled task signal when the mechanical arm status signal is the first status signal, and issue the first scheduled task signal when the mechanical arm status signal is the second status signal.
In some embodiments, the robotic arm status signal further comprises a third status signal, the third status signal being a status signal other than the first status signal and the second status signal;
And the WMS system is further used for inquiring whether a tray to be disassembled exists in the flat-bed vault or not when the state signal of the mechanical arm is the third state signal, and sending a state detection signal to the machine control system when the tray to be disassembled is inquired.
In some embodiments, the 3D visual recognition component is started to acquire the position mapping data of the money box on the tray to be disassembled, specifically, the 3D visual recognition component scans each money box on the tray to be disassembled to acquire point cloud data of each money box, noise reduction and registration preprocessing are performed on the acquired point cloud data to extract the spatial position, orientation and stacking state information of each money box on the tray to be disassembled, and the spatial position, orientation and stacking state information of each money box form the position mapping data of the money box.
In some embodiments, the cash box arrangement includes a deposit box having a first color, a payment box having a second color, a voucher box having a third color, and a precious metal box having a fourth color;
and when the color recognition result is the second color or the third color or the fourth color, the machine control system generates the unpacking task.
In some embodiments, when the money box grabbed by the mechanical arm is a payment box, the target position of the money box is a warehouse entry integration tray, and when the money box grabbed by the mechanical arm is a voucher box, the target position of the money box is a voucher tray;
The WMS system is specifically configured to find out a corresponding tray to be disassembled according to label information of a payment box or a voucher box, to be used as the warehousing integrated tray or the voucher tray, to query a position of a lower storage position of a mechanical arm where the warehousing integrated tray or the voucher tray is located, and to issue the position of the lower storage position of the mechanical arm where the warehousing integrated tray or the voucher tray is located to the machine control system;
the machine control system is specifically configured to control the 3D visual recognition component to position the position of the lower storage location of the mechanical arm where the warehouse entry integrated tray or the credential tray is located after receiving the position of the lower storage location of the mechanical arm where the warehouse entry integrated tray or the credential tray is located, obtain first positioning data, calculate a target stacking position according to the first positioning data, and control the mechanical arm to stack the grabbed money box according to the target stacking position.
In some embodiments, when the cash box grasped by the mechanical arm is a noble metal box, the cash box target position is an in-warehouse three-dimensional shelf;
the WMS system is specifically used for calculating a first idle goods space code on the three-dimensional goods shelf in the warehouse according to the label information of the noble metal box, and issuing the first idle goods space code to the machine control system;
the machine control system is specifically configured to match first point position information according to the first idle goods position code after receiving the first idle goods position code, and control the mechanical arm to stack the grabbed money box according to the first point position information.
Specifically, because of the area limitation of the flat-layer vault, the money box has no proper storage space and can only be placed on a ground tray, and other spaces in the vault are not fully utilized. Therefore, in order to solve the problem, the invention is provided with the fixed three-dimensional shelf in the warehouse, so that more money boxes can be stacked. The mechanical arm is fixedly arranged beside a three-dimensional goods shelf in the warehouse, and a lower storage position of the mechanical arm is arranged below the mechanical arm.
In some embodiments, the control system is further configured to, when the color recognition result is a first color, feed back the color recognition result characterizing the first color to the WMS system;
The WMS system is further used for controlling the RFID device to be started after receiving the color identification result representing the first color;
The RFID device is also used for collecting the label information of the deposit box on the tray to be disassembled through an anti-collision algorithm and uploading the label information of the deposit box on the tray to be disassembled to the WMS system;
The WMS system is also used for determining the website to which the deposit box belongs according to the label information of the deposit box on the to-be-removed tray, calculating a second idle goods space code on the three-dimensional goods shelf in the warehouse according to the label information of the deposit box on the to-be-removed tray when the website to which the deposit box belongs is a non-business website, and transmitting the second idle goods space code to the machine control system;
The machine control system is further used for after receiving the second idle goods space code, matching second point position information according to the second idle goods space code, grabbing a deposit box on a tray to be disassembled according to the second point position information, the money box position mapping data and a preset grabbing strategy, stacking the deposit box on the tray to be disassembled to a three-dimensional goods shelf in a warehouse, and controlling the 3D visual recognition assembly to position the position of a storage position under a mechanical arm where the tray to be disassembled is located after receiving the position of the storage position under the mechanical arm where the tray to be disassembled is located, so as to obtain second positioning data, grabbing the deposit box on the tray to be disassembled according to the second positioning data, the money box position mapping data and the preset grabbing strategy, and stacking the deposit box on the tray to be disassembled.
In some embodiments, the WMS system is further configured to calculate, after the completion of the unpacking task, whether a money box to be shelved exists in the current tray to be unpacked, and when the money box to be shelved exists, generate a money box shelve task and issue the money box shelve task to the machine control system;
the machine control system calculates a target point position of the money box to be put down according to the money box putting down task, and adjusts a grabbing path and a gesture according to the target point position of the money box to be put down and a preset grabbing strategy so as to control the mechanical arm to grab the money box to be put down to a current tray to be disassembled.
In some embodiments, the WMS system is further configured to query an empty storage location in the flat vault and create a second scheduling task to be issued to the scheduling system after the execution of the unpacking task of the current tray to be unpacked is completed;
and the dispatching system also uses an AGV robot to dispatch the current tray to be disassembled after the execution of the disassembling task is finished according to the starting point position and the target point position of the second dispatching task to withdraw from the lower storage position of the mechanical arm to the idle storage position in the flat vault.
In the intelligent stripping platform for the flat-layer vault business, a WMS system can select a current task or a queuing task as an executing task to start execution. The grabbing task generating rule is that one money box generates one task, the task generation also follows the principle of 'grabbing less and grabbing more', for example, when gray deposit boxes of non-business network points are all put on shelves, the WMS system compares the number of money boxes on warehouse-in trays with the number of money boxes on warehouse-out trays, selects trays with the small number of money boxes to generate grabbing tasks, and grabs a small number of money boxes on a plurality of money box trays. The WMS system calculates the tray combination required by the warehousing line according to the category of the warehousing money box and the next day business condition of the website to which the money box belongs, wherein the tray combination comprises three categories of warehousing mixing, waiting for warehouse discharging and certificate trays, and when any tray of the required category does not exist, the empty tray is selected to replace. The sorting rule of the warehouse-in money box is that the machine control system judges the color of the money box through 3D vision, the payment adjusting box is split into a warehouse-in mixed tray, the certificate box is placed on the certificate tray, and the noble metal box is put on a rack for storage. If the current line has non-business network points, the WMS system determines to supplement the trays to be delivered to the dispatching system, the dispatching system dispatches the AGV robot to carry the empty trays to the lower storage position of the mechanical arm, the AGV robot carries the empty trays to be completed, the dispatching system is informed, the dispatching system informs the WMS system of the completion signal, and the WMS system binds the trays with the point positions and modifies the carrying task state.
In the invention, if the information acquisition of the RFID equipment is abnormal, the system automatically retries, after three continuous failures, the WMS system automatically distributes the abnormal position of the three-dimensional goods shelf, the WMS system transmits the abnormal goods position code to the machine control system, the machine control system transmits the point position information to the mechanical arm according to the received goods position code matching point position information, the mechanical arm moves to the stacking position according to the point position, the money box is placed on the abnormal goods position, the stacking is completed, the mechanical arm informs the machine control system, after receiving the stacking completion information, the machine control system informs the WMS system of the completion information, and the WMS system records the abnormal position information and waits for manual processing.
After the task of the current tray is executed, the WMS system inquires the idle storage position in the library and creates the task to be issued to the dispatching system, and the dispatching system dispatches the AGV robot to withdraw the corresponding tray from the lower storage position of the mechanical arm to the idle storage position according to the initial point position and the target point position of the task.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
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