JPH09204558A - Automatic device group management system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a medium supply/collection device to carry on its operation in a limited range even when an obstacle or a maintenance person exists on its moving path and also to eliminate such an inconvenient case where a person in charge must immediately remove the obstacle. SOLUTION: A medium supply/collection device 2 which supplies and collects the medium for an ATM (automatic teller machine) 1 stores the position of an obstacle if detected in its self-travel mode. When a degeneration key 61 is pushed, the device 2 automatically sets a movable range where no collision occurs against the obstacle and starts its operation. Then the device 2 is reset in its original range after a person in charge removed the obstacle and pushed a cancel key 64. When the movement of the device 2 is limited for its maintenance, etc., a maintenance area is set and stored. Then a movable range of the device 2 is set again, based on the maintenance area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic machine group management system that replenishes and collects a transaction medium with a movable replenishment and collection machine for a plurality of automatic transaction apparatuses installed in financial institutions such as banks. It is a thing.

[0002]

2. Description of the Related Art Conventionally, an automatic transaction device (ATM) installed in a financial institution such as a bank is used as a transaction medium of an automatic transaction device for the purpose of improving customer service by saving labor and shortening processing time. For example, a system has been proposed which automatically replenishes and collects bills when the bills are excessive or insufficient. This system moves a medium replenishment / recovery machine that can store banknotes to an automatic transaction device that requires replenishment or recovery, connects the banknote transport path to the automatic transaction device, and performs banknote replenishment or recovery. . As a result, media such as banknotes stored in a large number of automatic transaction devices arranged in a store can be collectively managed.

An automatic machine group management system having such a medium replenishment / recovery machine has the following structure in order to provide a system having excellent mechanical safety. That is, an ultrasonic sensor, a touch sensor, and a lever sensor are provided on the side surface of the medium replenishing and collecting machine that moves on the back side of the plurality of juxtaposed automatic transaction devices, respectively. The ultrasonic sensor detects an obstacle including a person existing in the traveling direction of the medium replenishing and collecting machine, and the touch sensor detects an obstacle on the rail on which the medium replenishing and collecting machine travels. The lever sensor detects an obstacle that comes into contact with the medium replenishment / recovery machine on the relatively upper side and on the side of the automatic transaction device while the medium replenishment / recovery machine is moving. Further, a light emitting / receiving sensor is provided on the upper rear surface of the medium replenishment / recovery machine, and this light emitting / receiving sensor detects whether the door of the automatic transaction device is opened or not. This is because in any case, a collision does not damage a person or a device.

A central control unit for remotely controlling the medium replenishment / recovery machine temporarily stops the medium replenishment / recovery machine when an ultrasonic sensor of the medium replenishment / recovery machine detects an obstacle on the rail. After that, the buzzer sounds and the automatic transaction device is replenished /
Wait until there is a request for collection. When the touch sensor or the lever sensor detects an obstacle contacting the medium replenishment / recovery machine, the medium replenishment / recovery machine is immediately stopped. After the clerk removes the obstacle, the medium replenishment / recovery machine continues to stop until the central control unit of the group management system is informed of the restart.

[0005]

The conventional automatic machine group management system as described above has the following problems to be solved. In the conventional automatic machine group management system, when the ultrasonic sensor of the medium replenishment / recovery machine does not detect an obstacle and the touch sensor or lever sensor of the medium replenishment / recovery machine detects a collision with the obstacle, a staff member Therefore, it is necessary to remove obstacles and notify the central control unit of the group management system of the restart. If this obstacle cannot be moved or if you do not want to move the medium replenishment / recovery machine to a certain area for maintenance work, etc., the touch sensor and lever sensor of the medium replenishment / recovery machine will collide with the obstacle. There was a problem that the staff member had to remove the obstacle each time the detection was made and perform the restart operation from the central control unit of the group management system.

[0006]

The present invention employs the following structure to solve the above problems. <Structure 1> A plurality of automatic transaction devices, a medium replenishment / recovery device that is provided to perform replenishment / recovery of media for these automatic transaction devices, and a self-propelled medium replenishment / recovery device, and a centralized control unit that controls the medium replenishment / recovery operation. When the medium replenishment and recovery machine detects an obstacle during self-propelled movement, the central control unit,
Based on the obstacle detection position, the movable range of the medium replenishing and collecting machine thereafter is set.

<Explanation> The medium replenishment / recovery machine automatically executes the medium replenishment processing and the collection processing for the automatic transaction apparatus. In order to move the medium replenishment / recovery machine by self-propelled movement, an obstacle detection function for automatically stopping the traveling when the obstacle is detected is added to the medium replenishment / recovery machine in order to prevent danger. Here, when an obstacle is detected, if the operation cannot be restarted until the obstacle is removed, the staff must immediately rush to the site. In this system, the centralized control unit sets the movable range of the medium replenishment / recovery machine thereafter based on the obstacle detection position, so that the operation can be resumed within a range that does not collide with the obstacle temporarily. This is called degenerate operation. After that, the staff member may remove the obstacle at an appropriate timing.

The movable range may be automatically set based on the obstacle detection position, or may be manually set by a staff member. Further, two or more automatic transaction devices may be provided, and one or more medium replenishment / collection machines may be provided. If there are two or more medium replenishment / recovery machines, the movable range is set separately. Further, the medium replenishment / recovery machine may be provided not only on the laid track but also with a self-propelled moving mechanism of arbitrary configuration that freely travels in a preset range.

<Structure 2> In Structure 1, when the medium replenishing and collecting machine detects an obstacle,
An automatic key for storing the obstacle detection position and instructing the automatic setting of the movable range is provided.

<Explanation> The clerk can grasp the obstacle detection position by monitoring the display device etc. of the centralized control unit, and after confirming the safety, instruct the operator to restart the operation without removing the obstacle. it can. Therefore, the setting of the movable range at that time was automated to reduce the burden on staff. Note that the keys include not only keys actually assigned to the keyboard of the centralized control unit but also virtual keys such as icons displayed on the display device.

<Structure 3> In Structure 1, the centralized control unit is provided with a release key for canceling the setting after the medium replenishing and collecting machine detects an obstacle and sets the movable range.

<Explanation> When an obstacle is detected, the movable range is set and the degenerate operation is performed, but when the attendant removes the obstacle, the degenerate operation must be canceled. May be disabled. Therefore, a release key is provided to release the degraded operation.

<Structure 4> A plurality of automatic transaction apparatuses, a medium replenishment / recovery machine that is provided for replenishing and retrieving the medium with respect to these automatic transaction apparatuses, and a self-moving medium replenishment / recovery machine, and this medium replenishment / recovery operation is controlled. A centralized control unit is provided, and in the centralized control unit, when an area where the medium replenishment and recovery machine is prohibited from entering is designated in an arbitrary place, the movable range setting of the medium replenishment and recovery machine is set. Set up a section.

<Explanation> It is necessary to prevent the medium replenishment / recovery machine from approaching the automatic transaction device while performing maintenance management work for some automatic transaction devices. Therefore, a staff member can specify a maintenance area and prohibit the medium replenishment / recovery machine from entering the area. The clerk operates the movement range setting unit to set the movable range to a range excluding the maintenance area. This setting can be freely changed by the staff.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to specific examples. <System Configuration> FIG. 1 is a block diagram of main parts of an automatic machine group management system of the present invention, and FIG. 2 is a perspective view showing an automatic machine group management system of a specific example. First, the entire automatic machine group management system according to the embodiment will be described. 1 and 2, in the automatic machine group management system of the present invention, a plurality of automatic transaction devices (hereinafter referred to as ATM) 1 installed side by side,
The medium replenishment / recovery machine 2 that moves behind the ATM 1 and the ATM
A centralized control unit 3 for controlling the medium replenishing and collecting machine 2 based on the information from 1 is provided. As shown in FIG. 2, the central control unit 3 includes an operation unit 3a, a display unit 3b, and a printer 3.
c is provided, and the operation unit 3a is operated to operate the medium replenishing and collecting machine 2
Is positioned at an arbitrary ATM 1, and bills are replenished and collected between the ATM 1 and the medium replenishing and collecting machine 2. The result or the result of counting the amount of bills stored in the medium replenishing and collecting machine 2 is displayed on the display unit 3b and output to the printer 3c.

As shown in FIG. 1, a self-propelled means 4 composed of a drive motor or the like is provided at the bottom of the medium replenishment / recovery machine 2, and the wheels 5 are rotated by the self-propelled means 4. The wheels 5 travel on rails 6 laid in the direction in which the ATMs 1 are arranged in parallel. On the side surface 2a of the medium replenishing and collecting machine 2 and the side surface 2b on the opposite side, three ultrasonic sensors 7a, 7 are provided.
b and 7c are attached. These ultrasonic sensors 7a, 7b, 7c emit ultrasonic waves, and when an obstacle is present on the traveling road, the ultrasonic sensor 7a, 7b, 7c detects the obstacle by receiving the reflected sound from the obstacle. In the case of this specific example, the ultrasonic sensors 7a, 7b, 7c are capable of measuring the time from the generation of ultrasonic waves to the reception of reflected sound when an obstacle is detected. By doing so, the distance from the medium replenishing and collecting machine 2 to the detected obstacle can be measured.

<Structure of Centralized Control Unit> In addition to the above-mentioned functions, the centralized control unit is provided with a mechanism for setting a movable range, which will be described later. Specifically, as shown in FIG. 1, the movable range setting unit 67 and the movable range storage unit 6 are included.
8 and a degenerate key 61, an automatic key 62 for controlling the
A manual key 63, a release key 64, a restart key 65, and a range setting key 66 are provided. Note that these keys are
It is assigned to a virtual key or the like on the keyboard of the operation unit 3a shown in FIG. 2 or on the screen of the display unit 3b.

As shown in FIG. 2, the medium replenishment / recovery machine 2 freely moves on its own from end to end of the rail 6 to perform the medium replenishment / recovery process on each automatic transaction device 1. However,
If any obstacle is present on the rail 6, the medium replenishment / recovery machine 2 is suddenly stopped by the detection mechanism described later. If the medium replenishment / recovery machine 2 is stopped until the staff removes the obstacle, the burden on the staff will be increased and the medium replenishment / recovery machine 2 will not function until the staff arrives. Therefore, in the present invention, when the medium replenishment / recovery machine 2 detects an obstacle and stops, the medium replenishment / recovery machine 2 moves by itself in a range where the obstacle does not exist and resumes operation.

To this end, a movable range setting section 67 is provided. Further, various keys 61 to 66 are provided for instructing the setting of such a movable range. The degeneration key 61 is a key that a staff member presses when restarting the operation while the movable range is restricted.
That is, when the attendant removes the obstacle and starts the normal operation, the degeneration key 61 is not pressed. In this case, the restart key 65 is pressed to restart the operation.
The movable range storage unit 68 stores the obstacle detection position 69 when an obstacle is detected and stops, or sets a maintenance area 70 for limiting the movable range as described later. A storage area for storing this is provided.

When the automatic key 62 detects an obstacle,
It is a key for instructing to automatically set the movable range outside the range. Further, the manual key 63 is a key that the clerk presses when manually designating the movable range. The release key 64 is a key for releasing the mode when an obstacle is detected and degenerate operation is performed. The restart key 65 is a key that is pressed when the medium replenishment and recovery machine 2 starts operation. Range setting key 66
Is a key pressed by the clerk to manually set a range in which movement should be restricted. In this case, as a range setting method, for example, the self-propelled moving range of the medium replenishment / recovery machine 2 is displayed on the display unit 3b shown in FIG. 2 with a picture, and the movable range or movement on the screen is displayed. A method of directly specifying the prohibited range using a cursor or the like is suitable.

<Structure of Sensor> FIGS. 3 and 4 are explanatory views showing the detection range of the ultrasonic sensor. As shown in the figure, the ultrasonic sensors 7a, 7b, 7c are capable of detecting obstacles in the moving direction which are in front of the side surfaces 2a, 2b of the medium replenishing and collecting machine 2. Especially, the ultrasonic sensor 7
a and 7c are capable of detecting an obstacle approaching the medium replenishment / recovery machine 2 from the back side of the ATM1 toward the ATM1, and the ultrasonic sensor 7b is arranged in the moving direction of the medium replenishment / recovery machine 2. It is designed to detect existing obstacles. An obstacle existing in the moving direction of the medium replenishment / recovery machine 2 is likely to collide with the medium replenishment / recovery machine 2, and, for example, a person in charge of maintaining the ATM 1 often approaches the ATM 1 from the medium replenishment / recovery machine 2 side. . Considering these, the detection ranges of the ultrasonic sensors 7a, 7b, 7c are set so that obstacles including humans can be detected efficiently.

Returning to FIG. 1, the side surface 2 of the medium replenishing and collecting machine 2
A touch sensor 8 is provided on the bottoms of a and 2b. The touch sensor 8 detects the obstacle when the obstacle comes into contact with the touch sensor 8. As shown in FIG. 2, the touch sensor 8 is provided so as to project from the side surfaces 2a and 2b, so that the obstacle can be detected before it comes into contact with the medium replenishment / recovery machine 2, and the obstacle can be detected. The possibility of damage to the medium replenishment and recovery machine 2 due to contact is reduced. Also, the surface is made of urethane, etc.,
It is designed to absorb the impact when an obstacle collides. The touch sensor 8 mainly detects an obstacle on the rail 6.

A lever sensor 9 is also provided on the side surfaces 2a and 2b of the medium replenishing and collecting machine 2. Lever sensor 9
Is for detecting an obstacle contacting the medium replenishment / recovery machine 2 while the medium replenishment / recovery machine 2 is moving, and mainly detects an obstacle existing relatively above the ATM 1 side.

FIG. 5 is an explanatory view showing the structure of the lever sensor, and is a view of the medium replenishing and collecting machine 2 as seen from above.
In the figure, the lever sensor 9 protruding toward the ATM 1 side
Is a contact portion 10 with which an obstacle directly contacts, a support portion 11 that rotatably supports the contact portion 10, and one end 10a of the contact portion 10.
It is composed of a spring 12 that elastically pulls toward the medium replenishing and collecting machine 2 and a photo interrupter 13 that detects the rotation of the contact portion 10. The other end 10b of the contact portion 10
A protrusion 14 is formed on the contact portion 10.
When the other end 10b of the photo interrupter is rotated by contact with an obstacle as shown by a two-dot broken line in the figure, the light of the photo interrupter 13 is blocked. As a result, the contact of the obstacle with the contact portion 10 is detected.

FIG. 6 is a plan view showing a specific example of the light emitting and receiving sensor, showing the medium replenishing and collecting machine 2 and the ATM 1 from above.
In the drawing, the rear surface 2c side (ATM1
Light emitting and receiving sensors 15a and 15b are provided on the upper side (side). The light emitting and receiving sensors 15a and 15b are respectively provided with a light emitting element and a light receiving element, and emitted from the light emitting element.
The light receiving element receives the reflected light. A slit plate 16 is provided between the light emitting and receiving sensor 15a and the light emitting and receiving sensor 15b, and the light emitted from the light emitting and receiving sensor 15a proceeds to the ATM1 side through the slit plate 16 and similarly from the light emitting and receiving sensor 15b. The emitted light travels through the slit plate 16 to the ATM 1 side. That is, the light beams emitted from the light emitting and receiving sensors 15a and 15b are, as shown in the figure, the rear surface 2c of the medium replenishing and collecting machine 2.
From the angle α in the present embodiment.
Is set to about 15 degrees.

A door 17 for maintenance is provided on the back surface 1a of the ATM 1.
Is provided, and a reflection plate 18 is attached to an upper portion of the door 17 in a direction in which the medium replenishing and collecting machine approaches. The reflecting plate 18 reflects the light output from the light emitting / receiving sensors 15a, 15b of the medium replenishment / recovery device 2 toward the light emitting / receiving sensors 15a, 15b. That is, for example, the light emitting / receiving sensors 15a and 15b respectively receive the reflected light from the reflection plate 18, and thereby detect the proximity of the ATM 1 to the medium replenishing and collecting machine 2.

<Internal Structure> FIG. 7 is a side view showing the internal structures of the ATM and the medium replenishing and collecting machine of this embodiment. In the figure, a banknote depositing / dispensing device 21 for depositing / dispensing banknotes is arranged inside the ATM 1, and replenished banknotes / collected banknotes can be handled through a replenishment / collection unit. ATM1
An adapter 22 is provided on the back side of the adapter 22, and the adapter 22 has a replenishment transport path 23 and a recovery transport path 24. The end portion of the replenishment conveyance path 23 is connected to the bill replenishment conveyance path 25 of the bill depositing / dispensing apparatus 21, and the end portion of the collecting conveyance path 24 is connected to the bill recollecting / conveying path 26 of the bill depositing / dispensing apparatus 21. There is. The banknote replenishing / conveying path 25 stores replenishing banknotes in the deposit / withdrawal unit 2
Each banknote denomination is stored in the safes 28 and 29 via the banknote 7.
The banknote collecting / conveying path 26 collects and collects collected banknotes in the deposit / withdrawal unit 27.
It is transported to the recovery transport path 24 via. Further, above the deposit / withdrawal unit 27, a discrimination section 30 for discriminating the authenticity / damage of banknotes is provided.

Inside the medium replenishment / collection machine 2, a plurality of bill storages 31, 32 for storing bills, a circulation conveyance path 33, a bill recognition processing section 34, a replenishment branch conveyance path 35, a collection branch conveyance path 36, Blades 38a to 38f, a replenishment connection guide member 39, and a recovery connection guide member 40 are provided, respectively. The banknote storages 31, 32 are respectively provided with a banknote stacking unit 41, a banknote payout unit 42 for paying out supplementary banknotes, A
Provided are a collected bill taking unit 43 for taking the collected bills from TM1 into the bill storing units 31, 32, and a reject bill taking unit 44 for taking rejected bills, which have been recognized as non-replenishable among replenishment bills, into the bill storing units 31, 32. ing.

FIG. 8 is a block diagram showing a group management system of this example. In the figure, a centralized control unit 3 controls a plurality of ATMs 1 and medium replenishing and collecting machines 2, and
The display unit 3b, the printer 3c, and the operation unit 3a are controlled.

<Control System> FIG. 9 is a block diagram showing the control system of the medium replenishing and collecting machine. In the figure, the control unit 51 that controls the medium replenishing and collecting machine 2 includes a blade switching unit 37,
The drive circuit 52, the bill recognition processing unit 34, the bill transport system driving unit 53, the self-propelled means 4, and the sensor circuits 54 and 55 are connected, and the control unit 51 controls these. The blade switching unit 37 is composed of an electromagnetic solenoid (not shown) or the like, and switches the blades 38a to 38f in the medium replenishment / collection machine 2 when replenishing or collecting a bill.

The drive circuit 52 includes an electromagnetic solenoid 56.
By exciting and deactivating the replenishment connection guide member 39 and the recovery connection guide member 40 shown in FIG.
And the banknotes can be conveyed between the medium replenishing and collecting machine 2 and the ATM 1. The bill recognition processing unit 34 performs recognition processing such as discrimination, type, and number of supplementary bills. The bill transport system drive unit 53 drives the transport system in the medium replenishment and collection machine 2. As described above, the self-propelled unit 4 causes the medium replenishment / recovery device 2 to travel on the rail 6, and the slit sensor 57 is connected thereto. The slit sensor 57 detects the amount of rotation of a slit plate (not shown) provided on the shaft that rotates the wheels 5 of the medium replenishment / recovery machine 2. By detecting this amount of rotation, the medium replenishment / recovery machine 2 travels. You can figure out the distance.

The sensor circuit 54 includes ultrasonic sensors 7a,
7b, 7c and light emitting / receiving sensors 15a, 15b are connected, and the sensor circuit 54 drives these sensors and monitors these sensors. Ultrasonic sensor 7a,
When the 7b, 7c and the light emitting and receiving sensors 15a, 15b detect an obstacle, the sensor circuit 54 outputs a detection signal to the control unit 51.
The control unit 51 stops the self-propelled means 4. The touch sensor 8 and the lever sensor 9 are connected to the sensor circuit 55, and the sensor circuit 55 drives these sensors and monitors these sensors. When the touch sensor 8 and the lever sensor 9 detect an obstacle,
The sensor circuit 55 sends a detection signal to the control unit 51, and the control unit 51 causes the self-propelled means 4 to stop urgently.

<Setting of Moving Range> FIG. 10 is a flowchart of the moving range setting operation of the medium replenishing and collecting machine. As shown in the lower part of the figure, the movable range B when the medium replenishment and recovery machine 2 detects a collision with the obstacle 75 or the movable range A when the maintenance range C is set is the operation unit 3
Set with a. First, the medium replenishment / recovery machine 2 is an obstacle 75.
If a collision is detected, the clerk removes the obstacle 75, and then in step S1, the restart key 65
Is pressed to perform the restart operation, or the degeneration key 61 is pressed to proceed to step S2, and the restart operation is performed after setting the movable range of the medium replenishing and collecting machine 2. Reduction key 6
If the automatic key 62 is pressed in step S2 after pressing 1, the process proceeds to step S3 to perform the movable range automatic setting. If the manual key 63 is pressed, the process proceeds to step S4 to perform the movable range manual setting. To do. Movable range B
The automatic setting of makes it impossible to move the medium replenishment and recovery machine 2 in the direction in which the medium replenishment and recovery machine 2 was moving from the position P1 immediately before the collision with the obstacle 75 was detected. Positions P3 to P4
Manual setting of the movable range A after setting the maintenance range C of the medium replenishment / recovery machine 2 and A displayed on the display unit 3b.
The operation is performed by operating the operation unit 3a while looking at the position of TM1.
The movable range of the medium replenishing and collecting machine 2 is the position P2 immediately before the maintenance range.

As described above, in the apparatus of the present invention, the movable range is simply set to be degenerated in order to avoid obstacles, and the movable range is set so that the medium replenishing and collecting machine 2 does not enter an arbitrary area. However, a staff member can perform various maintenance work in that part. This does not matter, for example, at the end portion or the central portion of the movable range of the medium replenishing and collecting machine. Therefore, the medium replenishing and collecting machine 2 is moved to a wide area in advance and the movable range is set so that the medium replenishing and collecting machine can continue the medium replenishing and collecting process to as many automatic transaction devices as possible. Preferably. Also,
For example, when two medium replenishment / recovery machines 2 cooperate to perform medium replenishment / recovery processing, one medium replenishment / recovery machine 2 is separately arranged on each side of the maintenance area, and as many as possible are arranged. It is preferable to replenish and collect the medium for the automatic transaction device.

In the above example, the medium replenishment / recovery machine 2 replenishes and collects the medium while traveling on the rails. Also, the movable range can be similarly set. In this case, since the traveling path is complicated, the movable range is not a one-dimensional setting as in the above specific example but a two-dimensional setting.

<Actual Operation> Next, the actual operation will be described. The automatic machine group management system has finished the startup operation and is in the operating state. In this state, the centralized control unit 3 monitors whether or not a bill replenishment request signal is received from any of the ATMs 1, and if received, sends a replenishment operation start signal to the ATM 1. Even if the ATM 1 in the immovable area transmits the bill replenishment request signal to the centralized control section 3, the centralized control section 3 confirms that it is an ATM in the immovable area from the setting information of the movable range of the medium replenishment and collection machine 2. Judge and invalidate this signal. In the ATM 1, the banknote deposit / withdrawal device 21 has a safe 2
When it detects that 8 and 29 are near end,
A bill replenishment command and replenishment bill type data are transmitted to the centralized control unit 3.

The centralized control unit 3 confirms that the bill end signal is not output from the bill storage 32 in the medium replenishing / collecting machine 2, and issues a command to the medium replenishing / collecting machine 2 to start moving. At this time, each sensor of the medium replenishment / recovery device 2, that is, the ultrasonic sensors 7a, 7b, 7c, the light emitting / receiving sensor 15a,
15b, the touch sensor 8 and the lever sensor 9 are in the ON state,
That is, it is in a detectable state. At the time of starting the movement, the control unit 51 causes the medium replenishment / recovery machine to operate at any of the ATM1s.
Position it on the back side of the machine to determine the position of the medium replenishment and recovery machine.
Further, a counter (not shown) in the control unit 51 receives the slit detection signal from the slit sensor 57, starts counting the number of slits, and starts measuring the moving distance of the medium replenishing and collecting machine 2. The counter constantly counts the number of slits during the movement of the medium replenishing and collecting machine 2.

If any of the ultrasonic sensors 7a, 7b, 7c detects an obstacle in the traveling direction of the medium replenishing and collecting machine 2 while the medium replenishing and collecting machine 2 is moving, the ultrasonic sensors 7a, 7b
The signals from b and 7c are sent to the sensor circuit 54, and the detection signal is sent from the sensor circuit 54 to the control unit 51. When the control unit 51 receives this detection signal, it issues a command to the self-propelled means 4 to gradually stop. Ultrasonic sensors 7a, 7
As described above, b and 7c can detect an obstacle at a position slightly distant from the medium replenishment / recovery machine 2 and can calculate the distance to the obstacle at the time of detection, so if the distance to the obstacle is allowed. The medium replenishing and collecting machine 2 can be stopped slowly.

<Speed Control> FIG. 11 is a time chart showing speed control of the medium replenishing and collecting machine. In the figure, the vertical axis represents the moving speed and the horizontal axis represents the moving distance. First, the medium replenishing and collecting machine 2 starts from the current position, that is, the position X1, accelerates to reach the maximum speed at the position X2, and thereafter reaches the high speed. When the ultrasonic sensors 7a, 7b, 7c detect an obstacle at the position X3 of the medium replenishment / recovery device 2 at the position X3, for example, at a position X7 which is 1 m away, the brake is applied at the position X3 and the traveling at the constant speed is performed at the position X4. Transition. After that, the obstacle is still detected and the medium replenishment / recovery machine 2 moves to the position X.
If it reaches 5, the brake is applied at this position X5 and the medium replenishing and collecting machine 2 is stopped at the position X6. Position X5
Is about 15 cm in this example. The braking position X5 may be a position at which the distance from the position X5 to the obstacle is larger than the distance from the braking to the stop of the medium replenishing and collecting machine 2. In this way, the ultrasonic sensors 7a, 7b, 7c detect obstacles at positions sufficiently distant from the medium replenishment / recovery machine 2, so that the brake can be applied to the creep speed in advance, and the medium replenishment / recovery machine 2 can be used. There is no slip between the wheel 5 and the rail 6. Therefore, the slit sensor 57 can accurately detect the moving distance.

When the medium replenishment / recovery machine 2 is stopped, the control unit 51 shown in FIG. 9 sends a signal to the central control unit 3 shown in FIG. 8 indicating that an obstacle has been detected, and the central control unit 3 receives this signal. The alarm is displayed on the display unit 3b shown in FIG. The operator can confirm that the obstacle exists in the traveling direction of the medium replenishing and collecting machine 2 by looking at the displayed alarm, and the obstacle is removed by the operator. Since the control unit 51 of the medium replenishment / recovery machine 2 knows the position where the medium replenishment / recovery machine 2 itself is stopped, it becomes possible to restart when the obstacle is removed. The control unit 51 of the medium replenishment / recovery device 2 accelerates the self-propelled means 4 from the stopped state and moves at a constant speed at the high speed shown in FIG. Then, when the target ATM 1 is reached, it is positioned on the back surface of this ATM 1 and the bill can be replenished. The bill replenishing operation will be described later.
When the obstacle is not removed by the operator, the operator operates the operation unit 3a while looking at the display unit 3b shown in FIG. 8 in which the error location is displayed, sets an area that should not be moved, and restarts. Will be possible. Further, even when it is not desired to move the medium replenishment / recovery machine 2 to the maintenance range in advance, it is possible to set the area that is not desired to be moved by operating the operation unit 3a while watching the display unit 3b. The operator operates the operation unit 3a to release the restricted movement area.

In order to position the medium replenishment / recovery machine 2 on the back surface of the ATM 1, the control unit 51 of the medium replenishment / recovery machine 2 accelerates the self-propelled means 4 from the stopped state in the same manner as described above.
It moves at a constant speed at the high speed shown in. Then, when the target ATM 1 is reached, it is positioned on the back surface of this ATM 1 and the bill can be replenished. Further, since the centralized control unit 3 knows the position of the medium replenishing and collecting machine 2 and the position where the obstacle is detected, the medium replenishing and collecting machine 2 is detected from the position where the obstacle is detected.
The area on the moving direction side of (3) may be automatically set as an unmovable area.

<Emergency Stop> Next, when the touch sensor 8 detects an obstacle on the rail 6 in the traveling direction of the medium replenishment / recovery machine 2 while the medium replenishment / recovery machine 2 is moving, the touch sensor 8 outputs The signal is sent to the sensor circuit 55 shown in FIG. 9, and the sensor circuit 55 sends the detection signal to the control unit 51. In response to this signal, the control unit 51 issues a command to the self-propelled means 4 to make an emergency stop. As a result, the medium replenishment / recovery machine 2 is stopped urgently, and an obstacle is prevented from excessively hitting the housing of the medium replenishment / recovery machine 2. At this time, the wheels 5 and the rails 6 may slip due to the emergency stop of the medium replenishment / recovery machine 2, and the detection signal of the slit sensor 57 becomes unreliable. Therefore, the control unit 51 outputs the output signal of the slit sensor 57. Invalidate. In addition, the control unit 51 uses the ultrasonic sensor 7
Detection signals from a, 7b, and 7c and light emitting and receiving sensor 15
The detection signals from a and 15b are invalidated. Further, the control unit 51 sends an alarm to the central control unit 3 as in the case described above.
To be displayed on the display unit 3b. The detection signal of the slit sensor 57 and the ultrasonic sensors 7a, 7b, 7
The timing for making the detection signal from c valid again is after the positioning of the medium replenishing and collecting machine 2 on the back surface of the ATM 1 is completed. This is because information is exchanged with the ATM 1 by positioning the ATM 1, and the deviation of the slit sensor detection value can be corrected from the position information stored in advance in association with the ATM 1. The positioning control of the medium replenishment / recovery device 2 to the ATM 1 is described in Japanese Patent Application No. 6-18.
The method shown in No. 9898 is used.

<Resumption of Movement> When the obstacle is removed from the rail 6 and the staff member instructs the movement to be resumed, the control unit 51 drives the self-propelled means 4 again to move the medium replenishment / recovery machine 2. However, in this case, the moving speed of the medium replenishing and collecting machine 2 is set to the low speed shown in FIG. As a result, the medium replenishment / recovery device 2 moves toward the target ATM 1 at a low speed, and when the target ATM 1 is reached, it is positioned on the back surface of the ATM 1. If the obstacles on the rails 6 are not removed or if the medium replenishing and collecting machine 2 is not desired to be moved to a certain area for maintenance, the operator sets the area to which the medium replenishing and collecting machine 2 is not desired to be moved, as in the above method. Alternatively, the centralized control unit 3 can automatically set the movement area. The operator operates the operation unit 3a to release the restricted movement area.

When an obstacle is detected by the touch sensor 8,
By nullifying the detection signals from the ultrasonic sensors 7a, 7b, 7c, for example, when the walls are close to both sides of the present system, the medium replenishment / recovery device 2 is provided at both ends of the rail 6,
That is, even if the wall is approached to a position within 1 m, the wall will not be erroneously detected as an obstacle. In addition, the touch sensor 8
When an obstacle is detected by the ultrasonic sensors 7a, 7b, 7
The detection signal from c may not be invalidated but may remain valid. In this case, if the medium replenishment / recovery device 2 approaches the wall, the wall may be erroneously detected as an obstacle, but since a real obstacle can be detected, safety is emphasized. It can be said that it is a form. Further, the user may be allowed to select one of the above two modes.

<Lever Sensor> Next, the medium replenishing and collecting machine 2
A case will be described in which an obstacle is detected by the lever sensor 9 during the movement of. The obstacle in this case is A
It is conceivable that the bill depositing / dispensing device 21 is supposed to be stored in the TM1. As the obstacles other than the bill depositing / dispensing device 21, a door on the back of the ATM 1, a passbook entry machine, a card reader, a coin depositing / dispensing machine, and the like can be considered. The banknote pay-in / pay-out device 21 can be pulled out from the back side of the ATM 1, and a staff member pulls out the banknote pay-in / pay-out device 21 to perform necessary processing at the time of maintenance or the like. The lever sensor 9 of the medium replenishing and collecting machine 2 is almost the same as the bill depositing / dispensing device 21
Is provided at a height at which the banknote pay-in / pay-out device 21 is completely forgotten to be installed in the ATM 1, and prevents the adapter 22 from colliding at high speed.

When the lever sensor 9 contacts a part of the bill depositing / dispensing device 21 of the ATM 1, the other end 10b of the contact portion 10 is pushed by the bill depositing / dispensing device 21 as shown in FIG. The light of the interrupter 13 is blocked. As a result, a signal is sent from the photo interrupter 13 to the sensor circuit 55 shown in FIG. 9, and the sensor circuit 55 sends a detection signal to the control unit 51. In response to this signal, the control section 51 issues a command to the self-propelled means 4 to make an emergency stop. As a result, the medium replenishment / collection machine 2 is brought to an emergency stop, and the banknote deposit / withdrawal device 21 is prevented from excessively hitting the housing of the medium replenishment / collection machine 2. At this time, the wheels 5 and the rails 6 may slip due to the emergency stop of the medium replenishment / recovery machine 2, and the detection signal of the slit sensor 57 becomes unreliable. Therefore, the control unit 51 outputs the detection signal of the slit sensor 57. Invalidate. Further, the control unit 51 controls the ultrasonic sensors 7a, 7b, 7
The detection signal from c is invalidated. Furthermore, the control unit 51
As in the case described above, the alarm is displayed on the display unit 3b of the centralized control unit 3.

When the obstacle on the rail 6 is removed, the control unit 51 drives the self-propelled means 4 again to drive the medium replenishing and collecting machine 2
To move. In this case, the moving speed of the medium replenishing and collecting machine 2 is set to the low speed shown in FIG. This allows
The medium replenishment / recovery machine 2 heads to the target ATM 1 at a slow speed, and when it reaches the target ATM 1, it is positioned on the back surface of the ATM 1. Even when the lever sensor 9 detects an obstacle, the detection signals from the ultrasonic sensors 7a, 7b, 7c are invalidated. However, as in the case where the touch sensor 8 detects an obstacle, the ultrasonic wave is detected. Sensors 7a, 7b, 7c
The detection signal from can be left valid.

In the ATM 1, if the user forgets to mount the adapter 22 or the like, it is possible to detect the forgetting to mount the adapter 22 in the ATM 1. However, if it is detected in the ATM 1, the medium replenishment / recovery machine 2 is stopped. The detection signal must be transmitted to the medium replenishment / recovery machine 2. Then, a cable is required to transmit the detection signal. Further, if the detection signal is transmitted to the medium replenishment / recovery machine 2 after detecting the contact between the adapter 22 and the medium replenishment / recovery machine 2, a time delay occurs and the adapter 22 or the medium replenishment / recovery machine 2 occurs.
May be severely damaged. Such a problem can be solved by detecting the contact on the side of the medium replenishing and collecting machine 2 as in this example.

<Operation of Light-Emitting / Receiving Sensor> Next, a case where an obstacle is detected by the light-emitting / receiving sensors 15a and 15b while the medium replenishing / collecting machine 2 is moving will be described. As an obstacle in this case, a maintenance door 17 provided on the back surface 1a of the ATM 1 can be considered. Door 1 when an attendant performs maintenance work
It is assumed that the medium replenishment / recovery machine 2 approaches the ATM 1 with the forgotten 7 closed. Light is output from the light emitting / receiving sensors 15a and 15b of the medium replenishment / recovery device 2, the light reaches the reflection plate 18 on the door 17 through the slit plate 16, is reflected by the reflection plate 18, and is again reflected by the slit plate 16. The light emitting / receiving sensors 15a and 15b are reached via. As a result, it is confirmed that the door 17 is closed.
As shown by the dotted line, when the door 17 is open, the light passing through the slit plate 16 does not reach the reflector plate 18. If the light does not reach the reflector 18, the light emitting / receiving sensors 15a and 15b
Cannot receive light, so that the light emitting / receiving sensors 15a and 15b send detection signals to the sensor circuit 54, and the sensor circuit 54 sends detection signals to the control unit 51.

The position at which the light emitting / receiving sensors 15a and 15b detect that the reflected light cannot be caught is immediately before the medium replenishment / recovery machine 2 collides with the door 17, and the medium replenishment / recovery machine 2 is running at a high speed. In this case, the control unit 51 issues a command to the self-propelled means 4 to make an emergency stop. As a result, the medium replenishment / recovery machine 2 is brought to an emergency stop, and the door 17 is closed.
Be careful not to hit the housing of. At this time, the wheels 5 and the rails 6 may slip due to the emergency stop of the medium replenishment / recovery machine 2, and the detection signal of the slit sensor 57 becomes unreliable. Therefore, the control unit 51 outputs the detection signal of the slit sensor 57. Invalidate. In addition, the control unit 51
Invalidates the detection signals from the ultrasonic sensors 7a, 7b, 7c. Further, the control unit 51 causes the display unit 3b of the centralized control unit 3 to display an alarm indicating that the door 17 is open.

Even when the medium replenishment / recovery machine 2 is traveling at a low speed, the control section 51 issues a command to the self-propelled means 4 to stop. As a result, the medium replenishing and collecting machine 2 is stopped and the door 17
Does not hit the medium replenishing and collecting machine 2. Then, the control unit 51 causes the display unit 3b of the centralized control unit 3 to display an alarm indicating that the door 17 is open. When the door 17 is closed, the control unit 51 drives the self-propelled means 4 again to move the medium replenishment / collection machine 2. However, in this case, the moving speed of the medium replenishing and collecting machine 2 is set to the low speed shown in FIG. As a result, the medium replenishing and collecting machine 2
Goes to the target ATM1 at a slow speed, and
When it reaches 1, it is positioned on the back side of ATM1.

<Bill Replenishing Operation> Next, the operation of replenishing the ATM 1 with the bill from the medium replenishing and collecting machine 2 will be mainly described with reference to FIG.
Will be described with reference to FIG. The bill replenishing operation is performed by accurately positioning the medium replenishing and collecting machine 2 at a predetermined position of the ATM 1. First, the control unit 51 of the medium replenishing and collecting machine 2 shown in FIG.
Energizes the electromagnetic solenoid 56 to connect the replenishment connection guide member 39 to the replenishment conveyance path 23 in the ATM 1,
The TM1 and the medium replenishing and collecting machine 2 are connected.

Next, the control unit 51 controls the blade switching unit 37.
The blades 38a to 38f are switched via the. Upon receiving the bill replenishment operation start signal, the ATM 1 outputs a replenishment operation start response to the bill deposit / withdrawal device 21, and the bill deposit / withdrawal device 21 switches the internal mode to the replenishment mode to start the replenishment operation. Here, the ATM 1 outputs a replenishment start signal to the control unit 51 of the medium replenishing and collecting machine 2. Medium replenishment recovery machine 2
The control unit 51 drives the bill transport system drive unit 53 to feed the bills in the bill storage 32 to the circulation transport path 33. Then, the bill recognition processing unit 34 performs authenticity discrimination of the replenishment bill fed out and recognition processing of the type, and conveys the bill that can be used as the replenishment bill to the ATM 1 side. In the ATM 1, the conveyed banknotes are stored in the cash boxes 28 and 29 for each type via the deposit / withdrawal unit 27. When the sensor detects that the specified number of banknotes are stored in the cash boxes 28 and 29, the ATM 1 transmits a replenishment completion response.

The control section 51 monitors the replenishment operation completion response from the ATM 1, and when receiving this response, the electromagnetic solenoid 56 is sent via the drive circuit 52.
Degauss. As a result, the replenishment connection guide member 39 is separated from the replenishment conveyance path 23 of the adapter 22, and the AT
The connection between M1 and the medium replenishing and collecting machine 2 is released. The centralized control unit 3 monitors whether another ATM 1 outputs a bill replenishment request signal or a bill replenishment request signal, and the bill replenishment output from the ATM 1 in the movable area of the medium replenishment / collection machine 2 is replenished. When the request signal or the bill collection request signal is received, a signal to that effect is sent to the medium replenishment and collection machine 2, and the medium replenishment and collection machine 2 finishes the replenishment operation just before.
The movement from the position behind M1 to the ATM1 that has output the bill replenishment request signal or the bill collection request signal is started.

When the medium replenishment / recovery machine 2 detects an obstacle by the touch sensor 8 or the lever sensor 9 during the movement before the medium replenishment / recovery machine 2 is positioned at the ATM 1 that has just performed the replenishing operation, The traveling speed is the low speed shown in FIG. Further, the detection signals of the ultrasonic sensors 7a, 7b, 7c of the medium replenishing and collecting machine 2 are invalid. The control unit 51 of the medium replenishment / recovery machine 2 positions the medium replenishment / recovery machine 2 on the back surface of the ATM 1. If an obstacle is detected by the touch sensor 8 or the lever sensor 9 during the operation, the ultrasonic sensor is used. The detection signals of 7a, 7b and 7c are invalidated. The medium replenishing and collecting machine 2 is then positioned at a low speed on the back surface of one of the ATMs 1, and at the time of positioning, the detection signals of the ultrasonic sensors 7a, 7b, 7c are validated again. When a bill replenishment request signal from another ATM 1 is output, the medium replenishment / collection machine 2
Moves to the ATM 1 that outputs the request signal, positions it behind it, and performs a bill replenishing operation as described above.

<Bill Collection Operation> Next, a case where a bill collection request signal is output from another ATM 1 will be described. The banknote deposit / withdrawal device 21 of the ATM 1 has a cash box 28, 2
I am monitoring whether the bill of 9 exceeds the set value,
When it is detected that the bill exceeds the set value, the ATM
1 transmits a bill collection request signal to the central control unit 3. Even if the unit in the ATM 1 has an error, if the bill depositing / dispensing device 21 does not have an error, the ATM 1 transmits a bill collection request signal and an ATM error signal to the centralized control unit 3.

When the central control unit 3 receives the bill collection request, it confirms that the bill storage 32 of the medium replenishment / collection machine 2 can store the collected bills, and sends a bill collection start signal to the ATM 1 as well as the medium. The replenishment / recovery machine 2 starts to move. Further, the centralized control unit 3 determines whether the bill collection request and the AT
When the M error signal is received, it is confirmed that the number of bills in the bill storage 32 of the medium replenishment / collection machine 2 is less than the set value,
A bill collection start signal is transmitted to the ATM 1 and the medium replenishing and collecting machine 2 is started to move. The control unit 51 of the medium replenishing and collecting machine 2 issues a movement start command to the self-propelled means 4, and the medium replenishing and collecting machine 2 starts moving toward the target ATM 1. The ultrasonic sensor 7 of the medium replenishment / recovery device 2 during the movement
When an obstacle is detected by the a, 7b, 7c, the touch sensor 8, the lever sensor 9 or the light emitting / receiving sensors 15a, 15b, the medium replenishment / recovery machine 2 is stopped and the obstacle is removed, as described above. Afterward, or after the movement range is limited, the vehicle again moves toward the target ATM1.

When the medium replenishment / recovery machine 2 is positioned behind the target ATM 1, the control section 51 causes the drive circuit 52 to operate.
Is driven to excite the electromagnetic solenoid 56 to connect the recovery connection guide member 40 to the recovery transport path 24 of the adapter 22 of the ATM 1 to connect the ATM 1 and the medium replenishment recovery device 2. Further, the control unit 51 switches the blades 38 a to 38 f via the blade switching unit 37. The ATM 1 that has received the bill collection start signal outputs a collection operation start response to the bill deposit / withdrawal device 21, and the bill deposit / withdrawal device 21 switches the internal mode to the collection mode and starts the collection operation. Here, the ATM 1 is the control unit 51 of the medium replenishing and collecting machine 2.
A collection start signal is output to.

The deposit / withdrawal unit 27 dispenses bills from the safe 28 or 29 in which the bills have exceeded the set value.
The number of sheets and the like are discriminated, and the sheets are conveyed into the medium replenishing and collecting machine 2 through the collecting conveying path 24 and the collecting connecting guide member 40, and are further taken into the banknote storage 32 through the collecting branch conveying path 36. When the ATM 1 has sent out a predetermined amount of collected banknotes, the ATM 1 transmits the data with the collection operation completion response to the control unit 51 of the medium replenishment collection machine 2. The control unit 51
The collection operation completion response from the ATM 1 is monitored. When this response is received, the electromagnetic solenoid 56 is demagnetized via the drive circuit 52, and the collection connection guide member 40 is separated from the collection conveyance path 24 of the adapter 22. , ATM1 and the medium replenishment and recovery machine 2 are disconnected,
Complete the collection operation.

<Control by Centralized Control Unit> Centralized control unit 3
Monitors whether or not a banknote replenishment request signal or a banknote collection request signal is output from another ATM1, and displays one of the request signals output from the ATM1 in the movable area of the medium refill and collection machine 2. If received, it sends a signal to that effect to the medium replenishment / recovery machine 2, and the medium replenishment / recovery machine 2 starts moving from that position toward the banknote replenishment request signal or the ATM 1 that has output the banknote replenishment request signal. Further, since the central control unit 3 knows the position and the movable range of the medium replenishment / recovery machine 2, when the medium replenishment / recovery machine 2 approaches an area in which the medium replenishment / recovery machine 2 cannot move, a signal to stop the medium replenishment / recovery machine 2 is issued. The control unit 51 sends the instruction to the self-propelled means 4 to gradually stop.

When the touch sensor 8 or the lever sensor 9 detects an obstacle during the movement before positioning the medium replenishment / recovery machine 2 on the ATM 1 that has performed the recovery operation, the traveling speed of the medium replenishment / recovery machine 2 is detected. Is slow,
The detection signals of the ultrasonic sensors 7a, 7b, 7c are invalid. The control unit 51 of the medium replenishment / recovery machine 2 is an ATM
When the positioning is completed with respect to 1, the ultrasonic sensor 7
The detection signals of a, 7b, and 7c are validated, and the subsequent movement can be performed at high speed. Therefore, when the medium replenishing and collecting machine 2 moves thereafter, the ultrasonic sensors 7a, 7b, 7c,
Touch sensor 8, lever sensor 9 and light emitting / receiving sensor 15
An obstacle can be detected by a and 15b.

When the medium replenishment / recovery machine 2 is moved, the ultrasonic sensors 7a, 7b, 7c on both sides of the medium replenishment / recovery machine 2 are always operated.
Touch sensor 8, lever sensor 9 and light emitting / receiving sensor 15
Although the detection signals of a and 15b may be valid, the ultrasonic sensors 7a, 7b and 7c, the touch sensor 8 on the traveling direction side,
It is also possible to enable only the lever sensor 9 and the light emitting / receiving sensors 15a and 15b and disable the detection signals of these sensors on the opposite side. If only the traveling direction is valid, the clerk can approach the ATM 1 and perform maintenance on the opposite side of the traveling direction.

Further, in this embodiment, for example, an obstacle which is located about 1 m or more away from the medium replenishment / recovery machine 2 is not detected, so that the ATM 1 is maintained at a position sufficiently distant from the medium replenishment / recovery machine 2. However, the medium replenishing and collecting machine 2 is not stopped. Further, in the above-described specific example, when the detection signal of the slit sensor 57 may not be trusted due to an emergency stop, the detection signal is invalidated, but the detection signal itself is not invalidated and the position information calculated from the detection signal is displayed. You may make it invalid.

[Brief description of drawings]

FIG. 1 is a main part of an automatic machine group management system of the present invention.

FIG. 2 is a perspective view showing an appearance of an automatic machine group management system of a specific example.

FIG. 3 is an explanatory diagram showing a detection range of an ultrasonic sensor.

FIG. 4 is an explanatory diagram showing a detection range of an ultrasonic sensor.

FIG. 5 is an explanatory diagram showing a structure of a lever sensor.

FIG. 6 is a plan view showing a light emitting and receiving sensor.

FIG. 7 is an internal structure diagram showing the inside of an ATM and a medium supplement recovery machine.

FIG. 8 is a block diagram showing a group management system of a specific example.

FIG. 9 is a block diagram showing a medium supplement recovery machine.

FIG. 10 is a flowchart of a movement range limiting operation of the medium replenishing and collecting machine.

FIG. 11 is a time chart showing speed control of the medium replenishing and collecting machine.

[Explanation of symbols]

 1 ATM 2 medium replenishing and collecting machine 3 centralized control section 7a, 7b, 7c ultrasonic sensor 8 touch sensor 9 lever sensor 15a, 15b light emitting and receiving sensor 51 control section 61 degeneration key 62 automatic key 63 manual key 64 release key 65 restart key 66 range setting key 67 movable range setting section 68 movable range storage section

Claims (4)

[Claims] 1. A plurality of automatic transaction apparatuses, a medium replenishment / recovery machine that is provided for performing medium replenishment / recovery with respect to these automatic transaction apparatuses, and a self-propelled medium replenishment / recovery machine, and a centralized control for controlling this medium replenishment / recovery operation. When the medium replenishment and recovery machine detects an obstacle during self-moving movement, the centralized control unit, based on the obstacle detection position, the movable range after that of the medium replenishment and recovery machine. Automatic machine group management system characterized by setting. 2. The centralized control unit according to claim 1, wherein when the medium replenishing and collecting machine detects an obstacle, the obstacle detection position is stored and the movable range is automatically set. An automatic machine group management system characterized by having an automatic key for instructing. 3. The centralized control unit according to claim 1, further comprising a release key for releasing the setting after the medium replenishing and collecting machine detects an obstacle and sets a movable range. A characteristic automatic machine group management system. 4. A plurality of automatic transaction apparatuses, a medium replenishment / recovery machine which is provided for replenishing and retrieving the medium with respect to these automatic transaction apparatuses, and which moves by itself, and a centralized control for controlling this medium replenishment / recovery operation. And a movable range setting unit that sets a movable range of the medium replenishment and recovery machine when an area in which the medium replenishment and recovery machine is prohibited from entering is specified at an arbitrary location in the central control unit. An automatic machine group management system characterized by being provided.