JP5449125B2 - Coin handling device, test system and test method using coin handling device - Google Patents

Description

  The present invention relates to a coin handling device that handles coins that are deposited and withdrawn by a target device, a test system that tests a target device using a coin handling device, and a test method.

  2. Description of the Related Art Conventionally, there is an apparatus that includes an operation unit that receives a user instruction and a machine unit that operates according to the user instruction or operation. For example, there are an automatic teller machine (ATM), an automatic teller machine (Cash Dispenser; CD), etc. having an operation part such as a touch panel and a machine part such as a coin deposit / withdrawal part and a card insertion part. .

  Such devices are usually tested for evaluation before being brought to market. In general, it is desirable for an apparatus having a machine part that accompanies a machine operation to actually operate the machine part in an evaluation test (particularly, continuous stability evaluation, life evaluation, etc.). Tests involving a deposit / withdrawal operation at the coin deposit / withdrawal unit and a card insertion / extraction operation at the card insertion unit relied on actual machine operation by the operator.

  For this reason, the test that relies on the worker not only has a heavy burden on the operator in the night / holiday test or the continuous test, but also hinders shortening of the test period and cost reduction of the test. In addition, tests such as operating limit evaluations such as low and high temperature environments that exceed the operating environment conditions are difficult for workers who perform operations corresponding to machine parts to perform tests for a long time. It was not easy to get.

  Therefore, in the apparatus test, the operation corresponding to the mechanical unit is replaced from a human to an industrial robot. However, coins to be handled by devices such as ATMs have been excluded from automatic testing due to the difficulty of handling, with no precedent for replacing an operator with an industrial robot.

  Therefore, the continuous deposit / withdrawal test has been performed by a simple method such as being performed by an operator or, if an industrial robot, counting the coins in a coin deposit / withdrawal unit without taking the coins out of the apparatus. The continuous deposit / withdrawal test by an operator has poor test efficiency, and the continuous deposit / withdrawal test by an industrial robot has not been a strict deposit / withdrawal operation test.

  Regarding the efficiency of the coin collecting method, there is a proposal of a pickup device that sucks coins from a pickup port connected to the decompression unit and introduces the coins separated by the separation plate into the pickup storage unit (for example, a patent) Reference 1).

JP 2004-305550 A

  However, the proposed pick-up device only collects coins, and even if it can collect coins when dispensing coins, it cannot use the coins collected when depositing coins. In addition, since the pickup device is assumed to be handled by a human, it is difficult for an industrial robot to handle.

  A coin handling apparatus capable of handling coins is required to cope with coin depositing and dispensing operations, and only one of them is insufficient. In addition, in order to perform tests in an environment close to actual operating conditions, reduce the burden on workers, shorten the test period, and reduce costs, it is necessary to replace the workers with industrial robots. Therefore, it is required that the test operation (handling of the coin handling device) by the industrial robot is easy.

  Therefore, an object of the present invention is to provide a coin handling device that can handle coins and can be easily handled by an industrial robot, and a test system and a test method using the coin handling device.

  In order to solve the above-mentioned problem, a coin handling device that handles coins deposited and withdrawn by a target device includes a collection device that collects coins from a withdrawal unit of the target device, and a loading device that throws coins into a depositing unit of the target device. And a main body device for delivering the coins collected by the collecting device to the inserting device. The main body device includes a support unit that supports the recovery device, and a guide unit that receives coins from the supported recovery device and delivers coins to the input device. The collection device includes a suction unit that sucks coins by negative pressure, a sorting unit that sorts the sucked coins, a storage unit that stores the sorted coins, and a gripping unit that the robot grips. The throwing device includes a storage unit that stores coins delivered from the main body device, and a gripping unit that the robot grips.

Moreover, in order to solve the said subject, the test system which tests the object apparatus which deposits / withdraws a coin is provided with a robot and the said coin handling apparatus.
The robot can handle a collecting device and a throwing device having a gripping unit, collect coins dispensed by the target device by the collecting device, and deposit coins collected by the collecting device to the target device by the throwing device.

  In order to solve the above-mentioned problem, the robot grasps the grip portion of the recovery device supported by the main body device, releases the state where the recovery device is supported by the main body device, and targets the suction portion of the recovery device. Guide to the withdrawal part of the device, suck the coins withdrawn to the withdrawal part, return the main unit to the state of supporting the recovery device, release the grip of the gripping part of the recovery device, and remove the coin from the main unit Passed and grips the gripping part of the throwing device that accommodates coins in the storage part of the throwing device, guides the throwing device to the depositing part of the target device, and throws the coins stored in the stowage part of the throwing device into the depositing part The charging device returns to a state where coins can be delivered from the main device, and the gripping portion of the charging device is released.

  According to the disclosed coin handling device and the test system and test method using the coin handling device, it is possible to handle coins in the test of the target device, and facilitate handling by an industrial robot.

It is a conceptual diagram of the test system applied to embodiment. It is a figure which shows the example of ATM test system structure of embodiment. It is a block diagram which shows the hardware structural example of an operation simulator (UPD). It is a block diagram which shows the software structural example of a test system. It is a timing chart which shows the production | generation process procedure of operation information. It is a timing chart which shows an ATM operation test (withdrawal) processing procedure. It is a timing chart which shows an ATM operation test (payment) processing procedure. It is a figure which shows the example of arrangement | positioning of the ATM test system of embodiment. It is a side view of a coin collection box. It is a side view of a coin collection box station. It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (withdrawal). It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (withdrawal). It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (withdrawal). It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (withdrawal). It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (withdrawal). It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (payment). It is a figure which shows the use procedure of the coin collection | recovery box in an ATM operation test (payment). It is a figure which shows the relationship between the suction part front-end | tip shape of a coin collection | recovery box, and a coin depositing / withdrawing port. It is a figure which shows the modification of the suction | inhalation part front-end | tip shape of a coin collection | recovery box. It is a figure which shows the modification of the suction | inhalation part front-end | tip shape of a coin collection | recovery box. It is a figure which shows the suspension part which suspends and supports the hose connected to a coin collection | recovery box.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, a test system according to an embodiment will be described with reference to FIG. FIG. 1 is a conceptual diagram of a test system applied to the embodiment.

  The test system 1 can test the target device 2 in which the robot 4 handles coins using the coin handling device 5 and deposits / withdraws coins. In the test system 1, the test control device 3 sequentially executes the test procedure of the target device 2 in synchronization with the robot 4. The test control device 3 and the target device 2 and the test control device 3 and the robot 4 are connected via a predetermined data transmission path to exchange information.

  The target device 2 that is a test target includes an operation unit 2a, a control unit 2b, a withdrawal unit 2c, and a deposit unit 2d. The operation unit 2a receives an instruction input by the user operating the operation unit 2a, and generates operation data. The operation unit 2a transmits the generated operation data to the control unit 2b via the internal bus. The control unit 2b comprehensively controls the target device 2. The withdrawal unit 2c dispenses coins. The depositing unit 2d deposits coins. The withdrawing unit 2c and the depositing unit 2d operate according to a command from the control unit 2b according to an instruction from the user. The withdrawal unit 2c and the deposit unit 2d may be a deposit / withdrawal unit configured integrally.

The test control device 3 inputs predetermined operation information to the operation unit 2a so that the target device 2 and the robot 4 are synchronized, and synchronizes the control unit 2b and the control unit 4a.
The robot 4 includes a control unit 4a and an operation unit 4b. The operation unit 4b is controlled by the control unit 4a. As a result, the robot 4 performs a predetermined operation simulating a human action on the mechanical unit of the target device 2. The control unit 4a operates the operation unit 4b according to a predetermined operation procedure. The control unit 4a notifies the test control device 3 of the end of the operation of the robot 4 when a series of operations by the operation unit 4b is completed.

  The coin handling device 5 is a device for the robot 4 to handle coins. It is difficult for the robot 4 to handle the coins directly, such as taking out the coins from the dispensing unit 2c and inserting coins into the depositing unit 2d. The coin handling device 5 is a device that facilitates handling of coins by the robot 4. The coin handling device 5 includes a collecting device 6, a main body device 7, and a throwing device 8.

  The collection device 6 is a device handled by the robot 4 and is a device that collects coins from the withdrawal unit 2c. The collection device 6 includes a suction part 6a, a sorting part 6b, a storage part 6c, and a gripping part 6d. The suction part 6a sucks coins by negative pressure. The sorting unit 6b sorts the coins sucked by the suction unit 6a. The accommodating part 6c accommodates the coins sorted by the sorting part 6b. The grip portion 6d is a portion that is gripped by the robot hand so that the robot 4 handles the collection device 6.

  The main body device 7 is a device for transferring coins between the collection device 6 and the input device 8 and is a device for determining the home positions of the recovery device 6 and the input device 8. The main body device 7 includes a support portion 7a and a guide portion 7b. The support part 7 a supports the collection device 6. The guide unit 7 b receives coins from the supported collection device 6 and delivers coins to the input device 8.

  The throwing device 8 is a device handled by the robot 4 and is a device for throwing coins into the depositing unit 2d. The charging device 8 includes a storage portion 8a and a gripping portion 8b. The accommodating portion 8 a accommodates coins delivered from the collection device 6 via the main body device 7. The grip portion 8 b is a portion that is gripped by the robot hand so that the robot 4 handles the input device 8.

  With such a configuration, the robot 4 grips the grip 6d of the collection device 6 that is supported by the main body device 7 and is in the home position, releases the state where the collection device 6 is supported by the main body device 7, and collects it. The suction part 6a of the device 6 is guided to the withdrawal part 2c of the target device 2. The suction part 6a guided to the withdrawal part 2c sucks the coins dispensed to the withdrawal part 2c into the collecting device 6. The sucked coins are sorted by the sorting unit 6b and then stored in the storing unit 6c. The robot 4 returns to the state (home position) where the main body device 7 supports the collection device 6 and releases the gripping portion 6d. The collection device 6 supported by the main body device 7 transfers the coins in the accommodation portion 6 c to the main body device 7. The guide unit 7 b of the main body device 7 guides the received coins to the storage unit 8 a of the input device 8. The robot 4 accommodates coins in the accommodating portion 8a, grasps the gripping portion 8b of the throwing device 8 at the home position, and guides the throwing device 8 to the depositing portion 2d of the target device 2. The robot 4 puts the coins stored in the storage unit 8a into the depositing unit 2d. The robot 4 returns the input device 8 to a state (home position) in which coins can be delivered from the main body device 7, and releases the gripping portion 8b.

  As a result, the test system 1 deposits the coins withdrawn by the target device 2 to the target device 2 again, and the robot 4 continuously handles the coins using the coin handling device 5 by the robot 4. You can test.

  As described above, the test control device 3 and the robot 4 perform the test on the target device 2 in synchronization with each other, thereby creating the same operating environment as when the user is using the target device 2. it can. In addition, since the test can be performed without human intervention, it is possible to perform a continuous test for a long time, an operation test in an environment where it is difficult for a human being to stay for a long time, and the like. Furthermore, since it is possible to test the target device 2 without relying on human hands, the burden on the operator can be reduced, the test period can be shortened, and the cost can be reduced.

  The test system 1 can be applied to all devices that deposit and withdraw coins. Such target devices 2 include ATMs and CDs, vending machines such as tickets and admission tickets, and sales terminals that deliver product prices.

Hereinafter, as an example, a test system using ATM as a target device will be described in detail. FIG. 2 is a diagram illustrating a configuration example of an ATM test system according to the embodiment.
The ATM test system 9 includes an operation simulator (UPD: USB Pseudo Device) 100 and a robot 200, and tests ATM 300 (ATM-A (300a), ATM-B (300b)). The ATM 300 to be tested may be a plurality of ATM-A (300a) and ATM-B (300b) as shown in the figure. However, for ease of explanation, the test object is a single ATM 300. (ATM-A (300a)).

  An operation simulator (UPD) 100 (hereinafter referred to as UPD 100) functions as a test device, and is connected to a USB (Universal Serial Bus) 121 that connects an operation unit such as the touch panel 305 of the ATM 300 and a control unit that controls the entire device, Collect operation data and output operation data for testing. In addition, it connects to a robot controller 210 that controls the robot 200 via a LAN (Local Area Network) 122 and also connects to the PC 120. The UPD 100 is provided with a pause switch 110 on the front surface of the apparatus. The pause switch 110 is used to notify the UPD 100 of the timing of pause (pause).

  In the robot 200, the robot control device 210 controls the operation of the operation unit including the image recognition camera 201, the arm 202, and the hand 203. Although the robot 200 and the robot control device 210 are illustrated separately, the robot control device 210 may be an integrated configuration provided in the robot 200.

  The image recognition camera 201 sends image data obtained by photographing the ATM 300 to the robot controller 210. For example, blinking of a card insertion opening LED (Light Emitting Diode) 301, opening / closing of a banknote deposit / withdrawal shutter 303 and a coin deposit / withdrawal shutter 304 are monitored. The arm 202 and the hand 203 perform predetermined operations on the card insertion slot 302, the banknote deposit / withdrawal shutter 303, the coin deposit / withdrawal shutter 304, and the like according to instructions from the robot controller 210.

  The ATM 300 is a device to be tested, and includes a card insertion port LED 301, a card insertion port 302, a bill deposit / withdrawal shutter 303, a bill deposit / withdrawal port 313, a coin deposit / withdrawal shutter 304, a coin deposit / withdrawal port 314, a touch panel 305, and the like. A predetermined process is executed while communicating with the host computer 310. The card insertion slot 302 is an insertion slot through which a user or the robot 200 inserts a card for authenticating the user. The card insertion port LED 301 blinks when the ATM 300 prompts the user to insert a card into or remove the card from the card insertion port 302.

  At the time of depositing banknotes, the ATM 300 opens the banknote deposit / withdrawal shutter 303 and accepts the insertion of banknotes into the banknote deposit / withdrawal port 313. When the ATM 300 accepts the insertion of the banknote into the banknote deposit / withdrawal port 313, the ATM 300 closes the banknote deposit / withdrawal shutter 303 and stores the banknote in the banknote storage unit inside the ATM 300. Moreover, ATM300 pays out a banknote from the banknote storage part to the banknote depositing / withdrawing port 313 at the time of payment of a banknote. The ATM 300 opens the banknote deposit / withdrawal shutter 303 and waits for the banknote to be taken out from the banknote deposit / withdrawal port 313.

  At the time of depositing coins, the ATM 300 opens the coin deposit / withdrawal shutter 304 and accepts the insertion of coins into the coin deposit / withdrawal port 314. When accepting the insertion of coins into the coin deposit / withdrawal port 314, the ATM 300 closes the coin deposit / withdrawal shutter 304 and stores the coins in the coin storage unit inside the ATM 300. Moreover, ATM300 pays out a coin from the coin storage part to the coin deposit / withdrawal port 314 when the coin is dispensed. The ATM 300 opens the coin deposit / withdrawal shutter 304 and waits for the coin to be taken out from the coin deposit / withdrawal port 314.

  A card insertion slot 302, a card insertion slot LED 301, a banknote deposit / withdrawal shutter 303, a banknote deposit / withdrawal slot 313, a coin deposit / withdrawal shutter 304, and a coin deposit / withdrawal slot 314 are included in the machine section. The touch panel 305 is an operation unit that inputs a predetermined operation instruction when the user touches according to the display on the screen. When the user touches the surface of the touch panel 305, the internal I / O processing unit detects the position touched by the user, and notifies the control unit that controls the ATM 300 of the coordinate data. In addition, said structure part is an example and ATM300 equips suitably with operation parts, such as a keyboard, and machine parts, such as a passbook insertion slot, for example.

  When handling a banknote or a card, the robot 200 grips the banknote or the card directly by the hand 203. When handling coins, the robot 200 cannot handle the coins directly with the hand 203, and therefore handles the coins indirectly using the coin handling device 10.

Next, the hardware configuration of the UPD 100 will be described. FIG. 3 is a block diagram illustrating a hardware configuration example of the operation simulator (UPD).
The entire apparatus of the UPD 100 is controlled by a CPU (Central Processing Unit) 101. A random access memory (RAM) 102, a hard disk drive (HDD) 103, a USB interface 104, an input interface 105, and a communication interface 106 are connected to the CPU 101 via a bus 107.

  The RAM 102 temporarily stores at least part of an OS (Operating System) program and application programs to be executed by the CPU 101. The RAM 102 stores various data necessary for processing by the CPU 101. The HDD 103 stores the OS and application programs. The USB interface 104 is connected to the USB 121, and transmits / receives operation data to / from the ATM 300 via the USB 121. A pause switch 110 is connected to the input interface 105, and a signal sent from the pause switch 110 is transmitted to the CPU 101 via the bus 107. The communication interface 106 is connected to the LAN 122, and transmits / receives data to / from the robot controller 210 and the PC 120 via the LAN 122.

  With such a hardware configuration, the processing function of the UPD 100 can be realized. 3 illustrates the hardware configuration of the UPD 100, the hardware configurations of the robot control device 210, the ATM 300, and the PC 120 are the same.

Next, the software configuration of the ATM test system 9 will be described. FIG. 4 is a block diagram illustrating a software configuration example of the test system.
The UPD 100 includes an operation information storage unit 112, an operation data recording unit 115, an operation information editing unit 114, an operation data output unit 113, and a synchronization unit 111. Each processing unit realizes its processing function by the computer executing a program describing the procedure of the test processing. The operation information storage unit 112 is a storage unit that can be read and written from other processing units, and stores the operation information generated by the operation information editing unit 114. The operation data recording unit 115 inputs the operation data generated by the I / O processing unit 306 when the person in charge operates the touch panel 305 and records it in the order of input. When it is detected that the pause switch 110 has been pressed, a pause command (hereinafter referred to as a pause command) is inserted into the line below the operation data input immediately before, and operation information is generated. The operation information editing unit 114 is connected to the PC 120 and, when requested by the PC 120, transmits the operation information generated by the operation data recording unit 115. When receiving an instruction for writing edited operation information from the PC 120, the operation information is stored in the operation information storage unit 112. When the test is started, the operation data output unit 113 reads the operation information of the target test item from the operation information storage unit 112, and transmits the operation data to the ATM 300 in the reading order (time series). When the pause command is read, the process is transferred to the synchronization unit 111. Note that the processing may be handed over to the synchronization unit 111 for each operation data output to determine whether or not the operation data output is temporarily stopped. When reading the pause command, the synchronization unit 111 waits for an operation end notification issued by the robot control device 210 when the robot 200 ends a series of operations. When the operation end notification is received, the operation data output unit 113 is instructed to resume the process.

  In accordance with the robot controller 210, the robot 200 is connected to the machine part of the ATM 300 (the card insertion slot 302, the banknote deposit / withdrawal slot 313 with the banknote deposit / withdrawal shutter 303 opened, and the coin deposit / withdrawal slot 314 with the coin deposit / withdrawal shutter 304 opened). Then, a predetermined operation is performed. The robot control apparatus 210 includes an arm / hand control unit 211 and an image processing unit 212, and operates the robot 200 according to a predetermined operation procedure. The arm / hand control unit 211 operates the arm 202 and the hand 203 of the robot 200. For example, the robot 200 moves the arm 202 and the hand 203 to grip the card and insert it into the card insertion slot 302. Further, the robot 200 operates the arm 202 and the hand 203 to grasp the banknote, inserts the banknote into the banknote deposit / withdrawal port 313, and collects the banknote from the banknote deposit / withdrawal port 313. Also, the robot 200 operates the arm 202 and the hand 203 to collect coins from the coin deposit / withdrawal port 314 using the coin handling apparatus 10. In addition, the robot 200 operates the arm 202 and the hand 203 to insert coins into the coin deposit / withdrawal port 314 using the coin handling apparatus 10.

  The ATM 300 includes an I / O processing unit 306 and a control unit 307. When the touch panel 305 is operated, the I / O processing unit 306 detects the coordinates and notifies the control unit 307 and the operation data recording unit 115. The control unit 307 determines the operation data input from the I / O processing unit 306 or the operation data output unit 113, the operation status of the card insertion slot 302, the banknote deposit / withdrawal slot 313, the coin deposit / withdrawal slot 314, and the like. Control the behavior.

  Next, an ATM operation test by the ATM test system 9 will be described with reference to FIGS. First, a process until operation information is generated and stored in the operation information storage unit 112 as advance preparation will be described. FIG. 5 is a timing chart showing the operation information generation processing procedure. The operation information generation process is executed by the UPD 100, the ATM 300, and the PC 120.

  The person in charge performs a touch panel operation on a desired test item (T1). In the ATM 300, the I / O processing unit 306 performs I / O processing of the touch panel 305, and generates coordinate data of the touch panel 305 touched by the person in charge (T2). The coordinate data generated by the I / O processing unit 306 is transmitted to the UPD 100 via the USB 121 (T3). The UPD 100 performs a recording process of recording the coordinate data, the USB port number from which the coordinate data was acquired, and the time at which the coordinate data was acquired in the operation data recording unit 115 (T4).

  By the way, when using the ATM 300, operation of the touch panel 305, insertion / removal of a card at the card insertion slot 302, insertion / collection of banknotes when the banknote deposit / withdrawal shutter 303 is opened, coins when the coin deposit / withdrawal shutter 304 is opened There are work that humans perform such as loading and collecting. When operating such a machine unit, the person in charge operates the pause switch 110 of the UPD 100 (T5). For example, in the processing procedure of “withdrawal process”, the user inserts a card after selecting “withdrawal” from the menu. In this case, the person in charge operates the pause switch 110 at the timing of card insertion after selecting “withdrawal” from the menu on the touch panel 305. When the UPD 100 detects an operation of the pause switch 110, the operation data recording unit 115 records a pause command following the input coordinate data of the touch panel 305 (T6). When there is further operation, the person in charge performs the next operation on the touch panel 305 (T7). In the ATM 300, coordinate data is generated by touch panel I / O processing (T8) and transmitted to the UPD 100 (T9). The UPD 100 records the acquired operation data (coordinate data) in the operation information (T10). Subsequently, when the pause switch 110 is operated (T11), a pause command is recorded (T12). When there is further operation, the above processing procedure is repeated. In this manner, the operation data recording unit 115 generates operation information in which the coordinate data and the pause command are recorded in the order in which the operations are performed on the test items.

  Next, the operation information editing unit 114 uploads the recorded operation information to the PC 120 (T13). The PC 120 includes an operation information editing application in advance, displays the operation information acquired from the UPD 100 on a screen or the like, and presents it to the person in charge. Then, the PC 120 performs an operation information editing process in accordance with an instruction input by a person in charge via a keyboard or the like (T14). In the editing process, it is possible to perform operations such as partial modification of the acquired operation information and combining with operation information of other already registered test items. An identifier for identifying each test item is set in the test item. When the test items are combined, an operation command for notifying the next test item combined with the robot 200 is added to the last line of the operation information of the test item to be executed first. The edited operation information is downloaded to the UPD 100 (T15). In the UPD 100, the edited operation information acquired by the operation information editing unit 114 is stored in the operation information storage unit 112 (T16).

FIG. 6 is a timing chart showing an ATM operation test (withdrawal) processing procedure. In the UPD 100, operation information generated by the generation processing procedure of FIG. 5 is set in advance.
When the ATM operation test (withdrawal) is started, the UPD 100 sequentially executes the operations described in the operation information. First, the UPD 100 transmits operation data (withdrawal instruction) instructing a withdrawal process to the ATM 300 (T21), and waits for an operation end notification from the robot controller 210 by a pause command (T22).

  The control unit 307 of the ATM 300 receives the operation data (withdrawal instruction) and starts a withdrawal process (T23). In the withdrawal process, the control unit 307 blinks the card insertion port LED 301 (T24) and prompts the user to insert a card.

  On the other hand, the robot controller 210 monitors the state of the card insertion port LED 301 by the image recognition camera 201 in order to detect the start timing of the card insertion operation. The robot controller 210 detects the blinking of the card insertion slot LED 301, starts the card insertion operation, and inserts the card into the card insertion slot 302 (T25). When completing the card insertion operation, the robot controller 210 notifies the UPD 100 of the completion of the card insertion operation (Cycle END) (T27). The robot controller 210 monitors the state of the card slot LED 301 by the image recognition camera 201 in order to detect the start timing of the next operation. The ATM 300 receives the inserted card (T26), and advances the procedure of the withdrawal process.

  The UPD 100 acquires the end of the card insertion operation (Cycle END) and cancels the operation end notification waiting. Then, the UPD 100 transmits operation data for inputting the next personal identification number and operation data for inputting the withdrawal amount to the ATM 300 (T28), and waits for an operation end notification from the robot controller 210 by the pause command (T29). . In order to test the coin deposit / withdrawal process, the withdrawal amount is specified to be less than 1000 yen. The number of coins to be withdrawn is not limited to one and may be a plurality.

  The control unit 307 of the ATM 300 receives the operation data (personal code number, withdrawal amount) and advances the withdrawal process procedure. When permitting the withdrawal, the control unit 307 returns the taken-in card and performs the instructed withdrawal. The control unit 307 blinks the card insertion opening LED 301 (T30) and prompts the user to remove the card. The robot controller 210 detects the blinking of the card insertion slot LED 301, starts the card removal operation, and removes the card from the card insertion slot 302 (T31). The robot controller 210 monitors the state of the coin deposit / withdrawal shutter 304 by the image recognition camera 201 in order to detect the start timing of the next operation.

  The control unit 307 of the ATM 300 prepares a coin for dispensing at the deposit / withdrawal port and opens the coin deposit / withdraw shutter 304 (T32). The robot controller 210 detects the opening of the coin deposit / withdrawal shutter 304 and starts a coin collecting operation (T33). The robot 200 collects coins using the coin handling device 10. Details of the coin collecting operation will be described later with reference to FIGS. 11 to 15. When completing the coin collecting operation, the robot controller 210 notifies the UPD 100 of the completion of the coin collecting operation (Cycle END) (T34).

  The UPD 100 acquires the end of the coin collection operation (Cycle END) and notifies the robot controller 210 of the next instruction (T35). Receiving this, the robot controller 210 starts preparation for the next operation.

  As described above, since the UPD 100 transmits operation data in synchronization with the operation of the robot 200, the ATM test system 9 can perform the same operation test on the ATM 300 as an operation actually performed by a person.

FIG. 7 is a timing chart showing the ATM operation test (payment) processing procedure. In the UPD 100, operation information generated by the generation processing procedure of FIG. 5 is set in advance.
When the ATM operation test (payment) is started, the UPD 100 sequentially executes the operations described in the operation information. First, the UPD 100 transmits operation data (payment instruction) for instructing a deposit process to the ATM 300 (T41), and waits for an operation end notification from the robot controller 210 by a pause command (T42).

  The control unit 307 of the ATM 300 receives the operation data (payment instruction) and starts the deposit process (T43). In the deposit process, the control unit 307 blinks the card insertion port LED 301 (T44) and prompts the user to insert a card.

  On the other hand, the robot controller 210 monitors the state of the card insertion port LED 301 by the image recognition camera 201 in order to detect the start timing of the card insertion operation. The robot controller 210 detects the blinking of the card insertion slot LED 301, starts the card insertion operation, and inserts the card into the card insertion slot 302 (T45). When completing the card insertion operation, the robot controller 210 notifies the UPD 100 of the end of the card insertion operation (Cycle END) (T47). The robot controller 210 monitors the state of the coin deposit / withdrawal shutter 304 by the image recognition camera 201 in order to detect the start timing of the next operation. Further, the ATM 300 receives the inserted card (T46), and proceeds with the deposit processing procedure.

  The UPD 100 acquires the end of the card insertion operation (Cycle END) and cancels the operation end notification waiting. Then, the UPD 100 transmits operation data for inputting the next personal identification number and operation data for inputting the deposit amount to the ATM 300 (T48), and waits for an operation end notification from the robot controller 210 by the pause command (T49). .

  The control unit 307 of the ATM 300 receives the operation data (password) and proceeds with the deposit processing procedure. When permitting the deposit, the control unit 307 opens the coin deposit / withdrawal shutter 304 (T50). The robot controller 210 monitors the state of the coin deposit / withdrawal shutter 304 by the image recognition camera 201 in order to detect the start timing of the next operation. The robot controller 210 detects the opening of the coin deposit / withdrawal shutter 304 and starts the coin throwing operation (T51). The robot 200 inserts coins using the coin handling device 10. Details of the coin insertion operation will be described later with reference to FIGS. 16 and 17. The robot controller 210 monitors the state of the card slot LED 301 by the image recognition camera 201 in order to detect the start timing of the next operation.

  The control unit 307 of the ATM 300 counts the inserted coins. The control unit 307 of the ATM 300 determines whether or not the deposit amount based on the count matches the deposit amount input by the UPD 100. The ATM 300 pauses when the deposit amounts do not match.

  On the other hand, if the deposit amounts match, the control unit 307 of the ATM 300 blinks the card insertion slot LED 301 (T52) and prompts the user to remove the card. The robot controller 210 detects blinking of the card insertion slot LED 301, starts a card removal operation, and removes the card from the card insertion slot 302 (T53). The robot controller 210 notifies the UPD 100 of the end of the card removal operation (Cycle END) (T54).

  The UPD 100 acquires the end of the coin insertion operation (Cycle END) and notifies the robot controller 210 of the next instruction (T55). Receiving this, the robot controller 210 starts preparation for the next operation.

  As described above, since the UPD 100 transmits operation data in synchronization with the operation of the robot 200, the ATM test system 9 can perform the same operation test on the ATM 300 as an operation actually performed by a person.

  In addition, in order to perform a continuous test on the deposit / withdrawal processing of coins, the same amount as the withdrawal amount of the previous withdrawal operation is designated as the deposit amount. Thus, the deposit amount can be confirmed by the ATM 300 on behalf of the person by comparing the deposited amount with the previous withdrawal amount.

Next, the arrangement of each device in the ATM test system 9 will be described with reference to FIG. FIG. 8 is a diagram illustrating an arrangement example of the ATM test system according to the embodiment.
The ATM test system 9 arranges the coin handling device 10, ATM-A (300a) and ATM-B (300b) with the robot 200 as the center. At this time, ATM-A (300a) and ATM-B (300b) are arranged at positions facing each other with the robot 200 interposed therebetween, and the coin handling device 10 can be used for ATM-A (300a) and ATM-B (300b). They are arranged at approximately equidistant (L1) positions from both sides.

  Assuming that the test operation possible range in which the robot 200 can drive the arm 202 and the hand 203 to perform the test operation is R, the coin handling device 10 has a gripping unit for the robot 200 to handle the coin handling device 10. It arrange | positions so that it may be located in the range R. Moreover, ATM-A (300a) and ATM-B (300b) are arrange | positioned so that it may be located in the range R so that each card insertion slot 302, banknote depositing / dispensing shutter 303, and coin depositing / dispensing shutter 304 may be located. The

  The coin handling device 10 sucks the coins paid out to the coin deposit / withdrawal port 314 by negative pressure. The negative pressure for the coin handling device 10 to suck the coins is generated by a suction device (vacuum device) 520 connected by a hose 510. Thereby, since the coin handling apparatus 10 does not need to be provided with a suction mechanism, the coin handling apparatus 10 is reduced in weight, and handling by the robot 200 is facilitated.

  The hose 510 that supplies negative pressure to the coin handling device 10 is supported by a suspension unit 500 at the top of the robot 200 so as to be rotatable in the horizontal direction. The hose 510 is appropriately bent when the coin handling device 10 moves between the home position (the position where the coin handling device 10 is illustrated in FIG. 8), ATM-A (300a) and ATM-B (300b).

  The suspension unit 500 is located in the vicinity of the approximate center between the connection unit that connects one end of the hose 510 to the coin handling device 10 and the suction device fixing unit 521 that fixes the other end on the suction device 520 side. Therefore, the length L1 between the connecting portion that connects one end of the hose 510 to the coin handling device 10 and the suspension portion 500 and the length L2 between the suction device fixing portion 521 and the suspension portion 500 are substantially the same length. Thereby, the bending force of the hose 510 is reduced, and the gripping force of the hand 203 when the robot 200 handles the coin handling apparatus 10 can also be reduced. Therefore, the robot 200 can use a robot having a small gripping force, which contributes to a reduction in test cost.

  Next, a coin collection box (collection device), a coin collection box station (main body device) and a depositing device (input device) constituting the coin handling device 10 will be described with reference to FIGS. FIG. 9 is a side view of the coin collection box. FIG. 10 is a side view of the coin collection box station.

  The coin handling device 10 includes a coin collection box station 20, a coin collection box 60, and a deposit device 40. The coin collection box station 20 is fixed at a position to be the home position of the coin handling device 10 and is not a target to be handled directly by the robot 200. The coin collection box 60 is an object that is directly handled by the robot 200 and can be combined and separated from the coin collection box station 20. The depositing device 40 is an object that is directly handled by the robot 200, and can be combined and separated from the coin collection box station 20. The coin recovery box 60 illustrated in FIG. 9 is in a state separated from the coin recovery box station 20. The coin recovery box station 20 shown in FIG. 10 is in a state in which the depositing device 40 is supported (union: stored in the coin recovery box station 20) and the coin recovery box 60 is not supported (separated).

  The coin recovery box 60 has a hose 510 fixed and connected to an upper surface of a substantially rectangular parallelepiped box-shaped main body by a hose fixing portion 61. The coin recovery box 60 includes a cylindrical suction part 63 on the side surface of a substantially rectangular parallelepiped box-shaped main body. The coin recovery box 60 includes a gripping portion 73 on the side surface of the substantially rectangular parallelepiped box-shaped main body, on the side opposite to the suction portion 63. The coin collection box 60 includes a bottom plate 67 that is pivotally supported on an underside of a substantially rectangular parallelepiped box-shaped main body.

  The hose 510 supplies negative pressure to the coin collection box 60. In the open state of the bottom plate 67, the coin collection box 60 has the suction portion 63 and the accommodated coin discharge opening 69 as openings. The accommodated coin discharge opening 69 has such a size that the bottom plate 67 in the open state can be continuously maintained under the negative pressure supplied from the hose 510. When the bottom plate 67 rotates in the closing direction and the effective opening area becomes small, the bottom plate 67 is sucked up by the negative pressure and is in the closed state.

  In the closed state of the bottom plate 67, the coin recovery box 60 closes the accommodated coin discharge opening 69 and uses the suction part 63 as an opening. The suction part 63 is pipe-shaped and sucks the coins dispensed by the ATM 300 from the tip part 64. The tip portion 64 has a shape such that the tip of the suction portion is cut obliquely so that the tip portion 64 can suck the coins well in a state where the robot 200 holds the coin collection box 60 obliquely. Thereby, the gripping force of the robot 200 can be reduced and the bending force of the hose 510 can be reduced.

  Coins sucked from the tip 64 are sorted by the filter 62. The filter 62 is a wire mesh partition, and prevents the coins from being sucked into the suction device 520 from the coin collection box 60. Since the coin collection box 60 closes the bottom plate 67 when collecting coins, the sucked coins are accommodated in the withdrawal coin accommodating portion 72. The magnet 70 attracts the metal fitting 68 of the bottom plate 67 and assists in maintaining the closed state of the bottom plate 67 when the amount of coins accommodated in the dispensing coin storage portion 72 is large.

  The inclined surface 71 is provided so as to squeeze the horizontal section of the dispensing coin storage portion 72 from the upper side to the lower side. As a result, the accommodated coin discharge opening 69 is smaller than the horizontal cross section of the coin collection box 60. Further, the inclined surface 71 is provided in such a direction that the coins accommodated in the withdrawal coin accommodating portion 72 gather on the shaft side of the bottom plate 67. Thereby, the inclined surface 71 makes the fulcrum and the power point approach, and reduces the force which the load of the accommodated coin acts on the direction which opens the bottom plate 67. FIG.

The grip part 73 is a part that is gripped by the hand 203 of the robot 200. The robot 200 grips the grip portion 73 and handles the coin collection box 60.
The coin recovery box station 20 has a rectangular columnar housing on a flat coin recovery box station support portion 25. The casing includes a coin collection box housing portion 23 that opens the upper surface to accommodate the coin collection box 60 in the upper portion, and a depositing device placement portion 26 that opens the side surface and places the depositing device 40 in the lower portion. The depositing device 40 is placed on the depositing device placing unit 26 by sliding movement from the side of the coin collection box station 20.

  The coin collection box station 20 includes a coin collection box placement unit 22 on which the coin collection box 60 accommodated in the coin collection box accommodation unit 23 is placed (supported). The coin recovery box station 20 includes a coin recovery box bottom plate contact portion 21 that contacts the contact portion 66 of the bottom plate 67 of the coin recovery box 60. The coin recovery box bottom plate contact portion 21 interferes with the contact portion 66 when the coin recovery box 60 is stored in the coin recovery box storage portion 23. The bottom plate 67 changes from the closed state to the open state when the coin collection box 60 is pushed into the coin collection box housing portion 23 against interference between the coin collection box bottom plate contact portion 21 and the contact portion 66.

  The coin recovery box 60 is supported by the support portion 65 being placed on the coin recovery box placement portion 22 of the coin recovery box station 20. In the state where the coin recovery box 60 is supported by the coin recovery box station 20, the bottom plate 67 is opened. Thereby, the coins accommodated in the withdrawal coin accommodating part 72 are delivered to the coin recovery box station 20. The transferred coin is transferred to the depositing device 40 while being guided by the guide 24.

  The depositing device 40 has a substantially scoop shape, and includes a depositing coin receiving portion 42 and a gripping portion 41. The deposit coin accommodating part 42 has an accommodating part inclined surface 43 that is inclined downward toward the gripping part 41 side. The accommodating portion inclined surface 43 reduces the amount of inclination of the depositing device 40 when coins are inserted into the depositing port of the ATM 300 and facilitates coin insertion by the robot 200.

The grip part 41 is a part that is gripped by the hand 203 of the robot 200. The robot 200 holds the holding unit 41 and handles the depositing device 40.
Next, the details of the coin collecting operation will be described with reference to FIGS. 11 to 15 are diagrams showing a procedure for using the coin recovery box in the ATM operation test (withdrawal).

  The robot 200 performs the coin collecting operation. In the coin handling device 10 at the start of the coin collecting operation, each device is in the home position, and the coin handling device 10 does not hold a coin. The coin collection box station 20 places and supports the support portion 65 of the coin collection box 60 on the coin collection box placement portion 22. At this time, the bottom plate 67 of the coin recovery box 60 is in an open state. Further, the coin recovery box station 20 places the depositing device 40 on the depositing device placing section 26 (FIG. 11 (1)).

  When the coin collecting operation is started, the robot 200 grasps the grasping portion 73 of the coin collecting box 60 with the hand 203. The robot 200 lifts the coin collection box 60 above the coin collection box station 20. At this point, the bottom plate 67 of the coin collection box 60 is still in an open state (FIG. 11 (2)).

  When the robot 200 lifts the coin collection box 60 until the bottom of the coin collection box 60 is above the coin collection box station 20, the robot 200 moves forward while bringing the bottom plate 67 in the open state into contact with the coin collection box bottom plate contact portion 21. (Fig. 12 (3)). By the forward movement while the bottom plate 67 is in contact with the coin recovery box bottom plate contact portion 21, the bottom plate 67 rotates in the closing direction, and is eventually sucked up by the negative pressure to be in a closed state (FIG. 12 (4)). . Thus, the closing operation of the bottom plate 67 in the open state is realized by the movement operation of the coin recovery box 60 by the robot 200 and the negative pressure supplied to the coin recovery box 60. Therefore, the coin recovery box 60 can have a simple configuration that does not require a drive mechanism for opening and closing the bottom plate 67.

  When the robot 200 separates the coin collection box 60 from the coin collection box station 20, the robot 200 moves to the ATM 300 to be tested, and inserts the suction portion 63 into the coin deposit / withdrawal port (coin bucket) 314 with the coin deposit / withdrawal shutter 304 opened. The The robot 200 sucks coins while changing the position where the tip end portion 64 comes into contact with the dispensing port so that no coin collecting leakage occurs (FIG. 13 (5)).

  When the robot 200 finishes the predetermined suction operation, the robot 200 moves the coin collection box 60 above the coin collection box station 20 and then lowers the coin collection box 60 so that it is accommodated in the coin collection box station 20 (FIG. 13). (6)).

  The robot 200 causes the contact portion 66 of the coin recovery box 60 to contact the coin recovery box bottom plate contact portion 21 of the coin recovery box station 20 (FIG. 14 (7)). At this point, the recovered coin 90 is in the coin recovery box 60. The abutting portion 66 is a portion where a flat bottom plate 67 protrudes from the bottom of the coin collection box 60 in a bowl shape. The contact portion 66 is on the opposite side of the open end of the bottom plate 67 (the open end of the bottom plate 67 is the other end side), and the shaft portion that pivotally supports the bottom plate 67 so as to be openable and closable is between There is a relationship located in.

  The robot 200 further lowers the coin collection box 60 so as to be accommodated in the coin collection box station 20. The contact portion 66 interferes with the coin recovery box bottom plate contact portion 21, and the bottom plate 67 opens as the coin recovery box 60 is lowered. Thereby, the coin 90 is delivered from the coin collection | recovery box 60 to the money_receiving | payment apparatus 40 (FIG. 14 (8)).

  The robot 200 further lowers the coin collection box 60. The coin collection box 60 is in a support state in which the support portion 65 is placed on the coin collection box placement portion 22 and is accommodated in the coin collection box station 20 (FIG. 15 (9)). Thereafter, the hand 203 of the robot 200 releases the gripping portion 73 that has been gripped, and ends the coin collecting operation.

Next, details of the coin insertion operation will be described with reference to FIGS. 16 and 17. 16 and 17 are diagrams showing a procedure for using the coin recovery box in the ATM operation test (payment).
The robot 200 performs the coin insertion operation. In the coin handling device 10 at the start of the coin insertion operation, each device is in the home position, and the coin handling device 10 holds the coin in the depositing device 40. The coin collection box station 20 places and supports the support portion 65 of the coin collection box 60 on the coin collection box placement portion 22. At this time, the bottom plate 67 of the coin recovery box 60 is in an open state. Further, the coin collection box station 20 places the depositing device 40 on the depositing device placing unit 26. Here, the coin held by the depositing device 40 is a coin collected by the coin collection box 60.

  When the coin insertion operation is started, the robot 200 grips the grip portion 41 of the depositing device 40 with the hand 203 (FIG. 16 (1)). The robot 200 slides the depositing device 40 toward the front side of the coin collection box station 20. (FIG. 16 (2)).

  When the depositing device 40 is separated from the coin collection box station 20, the robot 200 moves to the ATM 300 to be tested, and throws coins into the coin deposit / withdrawal port (coin bucket) 314 opened by the coin deposit / withdrawal shutter 304. (FIG. 17 (3)). In addition, the depositing port and the withdrawal port of ATM300 may be separate bodies, or may be integrated as a depositing and dispensing port. In any case, the robot 200 can deposit and withdraw money at a designated position.

  When the robot 200 inserts coins into the deposit port, the robot 200 moves the deposit device 40 to the front side of the coin collection box station 20 and then slides the deposit device 40 so as to be accommodated in the coin collection box station 20 (FIG. 17 (4)).

  The depositing device 40 is placed on the depositing device placing unit 26 and is housed in the coin collection box station 20. Thereafter, the hand 203 of the robot 200 releases the gripping portion 41 that has been gripped, and ends the coin insertion operation.

Next, the shape of the tip of the suction part of the coin collection box 60 will be described with reference to FIG. FIG. 18 is a diagram showing the relationship between the shape of the suction end of the coin collection box and the coin deposit / withdrawal port.
When the ATM 300 opens the coin deposit / withdrawal shutter 304, the coin deposit / withdrawal port 314 is exposed to the user. The coin deposit / withdrawal port 314 has a bucket shape with the upper portion opened when the coin deposit / withdrawal shutter 304 is opened. The coin deposit / withdrawal port 314 includes a coin dispensing port (not shown), and dispenses coins from the ATM 300 to the coin deposit / withdrawal port 314. Moreover, the coin deposit / withdrawal port 314 includes a coin intake port (not shown), and takes the coins in the coin deposit / withdrawal port 314 into the ATM 300. The coin deposit / withdrawal port 314 is provided with a bowl-shaped bottom surface portion 321 so that coins paid out to the inside of the coin deposit / withdrawal port 314 gather in a predetermined range of the bottom surface portion 321.

  The suction part 63 of the coin recovery box 60 is pipe-shaped and has a length sufficient for the tip end part 64 to abut the bottom surface part 321 when the robot 200 handles the coin recovery box 60. The distal end portion 64 has a shape close to the shape of the bottom surface portion 321 so that when the robot 200 sucks coins, it is easy to suck coins. Specifically, the distal end portion 64 has a convex shape that corresponds (substantially fits) to the concave shape of the bowl-shaped bottom surface portion 321. For example, if the bottom surface portion 321 has a flat plate shape, the tip end portion 64 has a flat plate shape.

  In addition, the front-end | tip part 64 has a gap | interval part so that it may not adsorb | suck with the bottom face part 321 by a negative pressure. The gap portion can be realized with an insufficient shape of the distal end portion 64 corresponding to the bottom surface portion 321 so that the distal end portion 64 and the bottom surface portion 321 do not fit with no gap. Further, the gap portion may be realized by providing a notch portion at the distal end portion 64 or by providing an adsorption preventing hole.

  Since the tip end portion 64 is smaller than the size of the bottom surface portion 321, the robot 200 sucks coins over the entire bottom surface portion 321 while changing the position where the tip end portion 64 contacts the bottom surface portion 321. Take action.

  Next, a modified example of the shape of the suction portion tip of the coin collection box 60 will be described with reference to FIGS. 19 and 20. 19 and 20 are diagrams showing modifications of the tip shape of the suction portion of the coin collection box.

  The suction part 631 shown in FIG. 19 (1) includes a notch part 642 at the distal end part 641. The distal end portion 641 has a shape in which a pipe-like suction portion 631 is cut obliquely. The notch 642 has a shape in which a part of the tip end portion 641 is cut out, and prevents the tip end portion 641 from adsorbing to the bottom surface portion 321.

  Another modification is shown in FIG. The suction portion 632 includes a urethane rubber 644 at the distal end portion 643. The urethane rubber 644 has a strip shape, and a plurality of urethane rubbers 644 are provided around the pipe-like suction portion 632 (FIG. 19 (3) shows an AA cross section). The distal end portion 643 has a shape in which a pipe-like suction portion 632 is cut obliquely. The plurality of urethane rubbers 644 protrude from the front end portion 643 by a predetermined length and are disposed so that the front end portions thereof are inclined corresponding to the front end portion 643. Accordingly, the suction portion 632 prevents the tip end portion 643 from adsorbing to the bottom surface portion 321 and fits in a flexible manner corresponding to the shape of the bottom surface portion 321, so that the coin can be suitably sucked.

  The urethane rubber 644 is an example of an auxiliary member that forms the distal end portion, and is not limited to the urethane rubber as long as it can be flexibly deformed and has a shape retention capability so as not to be sucked into the suction portion 632. Other materials may be used.

  Another modification is shown in FIG. The suction part 633 includes a tip part 645. The front end portion 645 has an enlarged shape corresponding to the bottom surface portion 321 of the coin deposit / withdrawal port 314, and has a suction port 646 for sucking coins in a part thereof. As a result, the robot 200 can reduce the number of times of performing the operation of changing the position where the tip end portion 645 contacts the bottom surface portion 321. In addition, if the tip portion 645 has an enlarged shape corresponding to the entire bottom surface portion 321 of the coin deposit / withdrawal port 314, the robot 200 does not change the position where the tip portion 645 contacts the bottom surface portion 321. Also gets better.

Next, the suspension part 500 for suspending the hose 510 will be described with reference to FIG. FIG. 21 is a diagram showing a suspension part that suspends and supports a hose connected to the coin collection box.
The suspension unit 500 is fixed to a beam 530 that supports the suspension unit 500. The beam 530 is supported by a post (not shown). The suspension part 500 suspends and supports the fixing bracket 532 by a bearing 533 in a freely rotatable manner. The fixing fitting 532 fixes the straight pipe-like joint 531 at the center. The joint 531 is pivotally supported by the suspension unit 500 via the fixing bracket 532 with the opening in the horizontal direction. The joint 531 connects the hose 510 to both ends.

  Thereby, even if the hose 510 is a soft material, it does not bend at a support part. Furthermore, the bending force of the hose 510 is reduced, and the gripping force of the hand 203 when the robot 200 handles the coin handling apparatus 10 can also be reduced. Therefore, the robot 200 can use a robot having a small gripping force, which contributes to a reduction in test cost.

  In addition, about the ATM test which the ATM test system 9 performs, although the normal transaction example of ATM300 was demonstrated, not only this but an irregular operation | movement can be tested. For example, the ATM test system 9 can perform a test for an irregular operation such as when coins remain in the coin deposit / withdrawal port 314. In this case, the robot 200 leaves coins in the coin deposit / withdrawal port 314. In this way, the coins are collected. More specifically, the robot 200 that handles the coin collection box 60 limits the position where the tip end portion 64 comes into contact with the bottom surface portion of the coin deposit / withdrawal port 314, the number of times of contact, or the time of contact. In this way, the ATM test system 9 can perform a test for irregular operation by terminating the withdrawal transaction with the coin remaining in the coin deposit / withdrawal port 314.

  The above processing functions can be realized by a computer. In that case, a program describing the processing contents of the functions that each device should have is provided. By executing the program on a computer, the above processing functions are realized on the computer. The program describing the processing contents can be recorded on a computer-readable recording medium.

  When distributing the program, for example, portable recording media such as a DVD (Digital Versatile Disc) and a CD-ROM (Compact Disc Read Only Memory) on which the program is recorded are sold. It is also possible to store the program in a storage device of a server computer and transfer the program from the server computer to another computer via a network.

  The computer that executes the program stores, for example, the program recorded on the portable recording medium or the program transferred from the server computer in its own storage device. Then, the computer reads the program from its own storage device and executes processing according to the program.

DESCRIPTION OF SYMBOLS 1 Test system 2 Target apparatus 2a Operation part 2b Control part 2c Withdrawal part 2d Depositing part 3 Test control apparatus 4 Robot 4a Control part 4b Operation part 5 Coin handling apparatus 6 Collection | recovery apparatus 6a Inhalation part 6b Separation part 6c Storage part 6d Grasping part DESCRIPTION OF SYMBOLS 7 Main body apparatus 7a Support part 7b Guide part 8 Insertion apparatus 8a Accommodating part 8b Holding part 9 ATM test system 10 Coin handling apparatus 20 Coin collection box station 40 Depositing apparatus 60 Coin collection box 200 Robot 300 ATM
310 Host computer 500 Suspended portion 510 Hose 520 Suction device

Claims (12)

A coin handling device that handles coins that the target device deposits and withdraws,
A collection device for collecting coins from the withdrawal unit of the target device;
An input device for inserting the coin into the depositing unit of the target device;
A main body device for delivering the coins collected by the collection device to the input device;
With
The main unit is
A support part for supporting the recovery device;
A guide for receiving the coin from the supported collection device and delivering the coin to the input device;
With
The recovery device is
An inhalation part for inhaling the coin by negative pressure;
A sorting section for sorting the inhaled coins;
A storage unit for storing the sorted coins;
A gripping part that the robot grips;
With
The charging device is
An accommodating portion for accommodating the coins delivered from the main body device;
A gripping part to be gripped by the robot;
A coin handling apparatus comprising: The container of the collection device is
A bottom plate that is pivotally supported to be opened and closed downward, holds the coin in the closed state, and releases the holding of the coin in the open state,
2. The coin handling apparatus according to claim 1, wherein the bottom plate is held in the closed state by the negative pressure when in the closed state.   3. The coin handling apparatus according to claim 2, wherein the bottom plate holds the open state against the negative pressure when in the open state. The accommodating portion of the recovery device includes a contact portion that contacts the main body device,
The contact portion interferes with the main body device in the closed state of the bottom plate, and the interference with the main body device is released in the open state of the bottom plate,
4. The coin handling device according to claim 3, wherein the support portion supports the collecting device in which the bottom plate is in an open state.   The coin handling device according to any one of claims 1 to 4, wherein the suction portion has a pipe shape and has a shape in which a tip end portion is cut obliquely.   6. The coin handling apparatus according to claim 5, wherein the suction part includes a notch at a tip part. In a test system for testing a target device for depositing / withdrawing coins,
With robots,
A coin handling device for handling the coins;
With
The coin handling device is:
A collection device for collecting coins from the withdrawal unit of the target device;
An input device for inserting the coin into the depositing unit of the target device;
A main body device for delivering the coins collected by the collection device to the input device;
With
The main unit is
A support part for supporting the recovery device;
A guide for receiving the coin from the supported collection device and delivering the coin to the input device;
With
The recovery device is
An inhalation part for inhaling the coin by negative pressure;
A sorting section for sorting the inhaled coins;
A storage unit for storing the sorted coins;
A gripping part that the robot grips;
With
The charging device is
An accommodating portion for accommodating the coins delivered from the main body device;
A gripping part to be gripped by the robot;
A test system comprising: Centering on the robot, the main body device and the target device are arranged on an arc in the movable range of the robot,
The recovery device is connected to a hose connected to a suction device that applies the negative pressure,
The test system according to claim 7, wherein the hose is pivotally supported above the robot so as to be rotatable in a horizontal direction.   The test system according to claim 8, wherein the hose is connected to a joint that is rotatably supported in a horizontal direction. A coin handling device for handling coins to be deposited and withdrawn by the target device to be tested, and a robot,
The coin handling device includes a collecting device that collects coins from a withdrawal unit of a target device, a loading device that throws the coins into a depositing unit of the target device, and the coins collected by the collecting device to the throwing device. A main body device for delivery,
The main body device includes a support portion that supports the recovery device, and a guide portion that receives the coin from the supported recovery device and delivers the coin to the input device,
The recovery device includes a suction unit that sucks the coins by negative pressure, a sorting unit that sorts the sucked coins, a storage unit that stores the sorted coins, and a gripping unit that a robot grips.
The input device is a test method of a test system including a storage unit that stores the coins transferred from the main body device, and a gripping unit that the robot grips.
The robot is
Gripping the gripping portion of the recovery device supported by the main body device;
Release the state where the recovery device is supported by the main body device,
Guiding the suction portion of the recovery device to the withdrawal portion of the target device;
Inhaling the coins withdrawn to the withdrawal unit;
Return the main body device to the state of supporting the recovery device,
Release the gripping portion of the collection device,
Grasping the grip portion of the throwing device that receives the coin from the main body device and accommodates the coin in the accommodating portion of the throwing device,
Guiding the input device to the depositing unit of the target device;
Throwing the coins to be accommodated in the accommodating part of the throwing device into the depositing part;
The charging device returns to a state where the coins can be delivered from the main body device,
A test method for releasing the grip of the grip portion of the charging device. The storage unit of the recovery device is pivotally supported to be freely opened and closed downward, holds the coin in a closed state, and releases the holding of the coin in an open state, and an open end of the bottom plate A contact portion that contacts the main body device on an end side;
The robot is
The test method according to claim 10, wherein the bottom plate is switched from a closed state to an open state by an operation of moving the recovery device while bringing the contact portion into contact with the main body device. The storage unit of the recovery device is pivotally supported to be freely opened and closed downward, holds the coin in a closed state, and releases the holding of the coin in an open state, and an open end of the bottom plate A contact portion that contacts the main body device on an end side;
The robot is
The bottom plate is moved from the open state to the closed state by pressing the bottom plate of the recovery device in the open state against the main body device while moving the recovery device to a substantially closed state that is closed by the negative pressure. The test method according to claim 10, wherein the test method is switched to.

Images