Automatic number passing system, automatic number passing method, device, storage medium, and chip

Abstract

The application provides an automatic counting system, an automatic counting method, equipment, a storage medium and a chip. The automatic counting system comprises a conveying mechanism, a lifting platform arranged on the conveying mechanism and used for placing a paper stack, a paper counting head, a laser ranging sensor, a first photoelectric sensor and a second photoelectric sensor. The paper counting head comprises a first frame body and a suction cup. The suction cup moves relative to the first frame body along a first direction and abuts against a first surface of the paper stack. A first pushing mechanism is arranged on the first frame body and used for pushing the paper counting head to move along a second direction. A second pushing mechanism is arranged on the first frame body and used for pushing the paper counting head to move along a third direction. The laser ranging sensor is used for determining a first distance between the laser ranging sensor and the first surface. The first photoelectric sensor is used for acquiring first position information of a first edge. The second photoelectric sensor is used for acquiring second position information of the first edge. A controller is arranged on the first frame body and used for determining a change rate of a first size according to the first distance, determining a moving range of the paper counting head in the second direction according to the change rate, and determining a moving range of the paper counting head in the third direction according to the first position information and the second position information.

Description

Technical Field

[0001] This invention relates to the field of banknote counting technology, and more specifically, to an automatic counting system for skewed large stacks of banknotes, an automatic counting method for skewed large stacks of banknotes, an electronic device, a computer-readable storage medium, and a chip. Background Technology

[0002] When counting large stacks of paper, counting machines are needed to verify the quantity by counting edges or corners. Regardless of the type of counting machine, the paper head counting or other detection components must maintain an appropriate distance within a suitable range during the counting process; otherwise, it will affect the accuracy and efficiency of the operation. Ideally, the edges or corners of the large stacks of paper should be relatively straight and parallel to the feed direction of the counting machine, allowing for a relatively fast and smooth counting process. However, in reality, there are generally two scenarios: First, due to improper transportation or storage, the large stacks of paper may slip slightly or become skewed, or the stacks may not be neatly stacked during manual sorting due to skill limitations or site conditions. This situation will prevent the paper head counting from proceeding smoothly, hindering the automation of paper counting and improving the efficiency of the counting operation. In the second scenario, the paper stacks take many different shapes, especially those that have already undergone the printing process. Due to the thickness of the ink layer or the moisture content of the printed material, the stacks may have unevenness or wrinkles at the edges, making it difficult to count the paper smoothly.

[0003] In related technologies, before counting paper stacks, the stacks need to be manually arranged before mechanized counting. This counting method is too reliant on manual labor, has low efficiency, and cannot meet the needs of automated production. Summary of the Invention

[0004] In order to solve or improve at least one of the above-mentioned technical problems, one object of the present invention is to provide an automatic counting system for skewed large stacks of paper.

[0005] Another object of the present invention is to provide an automatic counting method for skewed large stacks of paper.

[0006] Another object of the present invention is to provide an electronic device.

[0007] Another object of the present invention is to provide a computer-readable storage medium.

[0008] Another object of the present invention is to provide a chip.

[0009] To achieve the above objectives, a first aspect of the present invention provides an automatic counting system for skewed large paper stacks, used for counting paper stacks. The paper stack has a first surface and a second surface disposed opposite to each other in a first direction. A first dimension of the first surface in the first direction is larger than a second dimension of the second surface in the first direction. The first surface has a first edge. The automatic counting system for skewed large paper stacks includes: a conveying mechanism; and a lifting platform movably disposed on the conveying mechanism. The lifting platform is movable relative to the conveying mechanism along the first direction and is used to place the paper stack. The lifting platform and the second surface... The paper stack counting mechanism includes: a first frame; a suction cup movably disposed on the first frame, capable of moving relative to the first frame along a first direction, the suction cup being used to abut against a first surface to count the paper stack; a first pushing mechanism connected to the paper stack, the first pushing mechanism being used to push the paper stack to move along a second direction, the second direction being perpendicular to the first direction; a second pushing mechanism connected to the paper stack, the second pushing mechanism being used to push the paper stack to move along a third direction, the third direction being perpendicular to the first direction and the third direction being perpendicular to the second direction; and a laser ranging sensor disposed on the first frame. The optical ranging sensor has a dimension larger than the first dimension in the first direction. During the movement of the paper counting head along the second direction, the laser ranging sensor is used to determine the first distance between the laser ranging sensor and the first surface. A first photoelectric sensor is installed on the first frame and is used to acquire the first position information of the first side. A second photoelectric sensor is installed on the first frame and is used to acquire the second position information of the first side. The distance between the first photoelectric sensor and the second photoelectric sensor in the third direction is the second distance. A controller is connected to the conveying mechanism, the lifting platform, the paper counting head, the first pushing mechanism, the second pushing mechanism, the laser ranging sensor, the first photoelectric sensor, and the second photoelectric sensor. The controller determines the second distance based on the maximum and minimum paper-eating dimensions of the suction cup in the third direction. The controller determines the rate of change of the first dimension based on the first distance. The controller determines the movement range of the paper counting head in the second direction based on the rate of change. The controller determines the movement range of the paper counting head in the third direction based on the first and second position information. The controller determines the dimension of the lifting platform in the first direction based on the distance between the suction cup and the first frame in the first direction.

[0010] According to the technical solution of the automatic counting system for skewed large stacks of paper provided by the present invention, the automatic counting system for skewed large stacks of paper can continuously count a small number of large banknotes from the stack and successively put them into the next process. During the counting process of the counting head on the stack, the relative position between the counting head and the stack can change in the first direction and / or the second direction and / or the third direction, so that the counting head can accurately cut into the edge or corner of the stack, thereby meeting the counting conditions and smoothly completing the counting operation. Specifically, during the counting process of the counting head on the stack, if the stack is slightly skewed or the first surface is uneven, the counting head moves along the second direction and / or the third direction through the cooperation of the first and second pushing mechanisms. The counting head can automatically find the edge and corner according to the offset of the paper edge (e.g., the first edge), ensuring that the counting head is in a suitable position, which is beneficial to realize the uninterrupted counting of the stack by the counting head. This design approach has several advantages. First, it eliminates the need for manual pre-arrangement of paper stacks, saving labor costs and improving work efficiency. Second, it offers a high degree of automation, meeting the demands of automated production.

[0011] An automatic counting system for skewed large paper stacks is used to count the paper stacks. The paper stack consists of multiple large banknotes (uncut). After the counting process, the paper stack enters the next process (cutting). The automatic counting system for skewed large paper stacks can continuously count a small number of large banknotes (e.g., 100) from the paper stack and successively put them into the next process. The paper stack has a first surface and a second surface arranged opposite each other in a first direction. A first dimension of the first surface in the first direction is larger than a second dimension of the second surface in the first direction. Optionally, the first direction is the height direction of the automatic counting system for skewed large paper stacks. The first dimension is the height of the first surface, and the second dimension is the height of the second surface. Since the first dimension is larger than the second dimension, the first surface is located above the second surface. Optionally, the first surface is the upper surface, and the second surface is the lower surface. Further, the first surface has a first edge. The automatic counting system for skewed large paper stacks counts the paper stack by counting the edges. Optionally, the first surface has a first corner. An automatic counting system for skewed, large stacks of paper counts the stacks by counting the angles.

[0012] Specifically, the automatic counting system for skewed large stacks of paper includes a conveying mechanism, a lifting platform, a counting head, a first pushing mechanism, a second pushing mechanism, a laser rangefinder, a first photoelectric sensor, a second photoelectric sensor, and a controller. The lifting platform is movably mounted on the conveying mechanism. The lifting platform can move relative to the conveying mechanism along a first direction. Optionally, the lifting platform moves relative to the conveying mechanism along the first direction via a third pushing mechanism. Optionally, the third pushing mechanism includes a third drive block, a third lead screw, and a third motor. The third drive block is connected to the lifting platform and is relatively fixed to it. The third lead screw passes through the third drive block and is threadedly connected to it. The third lead screw moves along the first direction. Optionally, the third motor is mounted on the conveying mechanism. The third motor is connected to the third lead screw. The third motor drives the third lead screw to rotate circumferentially. The third pushing mechanism converts the circumferential rotation of the third lead screw into linear displacement of the third drive block, causing the lifting platform to move relative to the conveying mechanism along the first direction. Further, the lifting platform is used to place the stack of paper. The lifting platform abuts against the second surface of the stack of paper. Optionally, the controller can control the lifting platform to adjust the paper stack to a suitable height. The controller can also control the conveying mechanism to transport the lifting platform and the paper stack to the appropriate position.

[0013] Further, the paper counting unit includes a first frame and a suction cup. The suction cup is movable relative to the first frame in a first direction. Optionally, the paper counting unit also includes a guide rod. The first frame has a mounting cavity. One end of the guide rod passes through the mounting cavity. The suction cup is located at the other end of the guide rod and is located outside the mounting cavity. Optionally, a baffle is provided on the circumferential sidewall of the guide rod. The paper counting unit also includes a spring, which is sleeved on the guide rod. One end of the spring abuts against the baffle, and the other end of the spring abuts against the cavity wall of the mounting cavity. Further, the suction cup is used to abut against a first surface to count the paper stack. Optionally, when the suction cup abuts against the first surface, the spring is always in a compressed state. Under the action of the spring force, the suction cup has a tendency to move closer to the paper stack so that the suction cup can abut against the first surface. During the counting process of the paper stack by the suction cup, the large sheets of banknotes that have been counted will detach from the paper stack by the suction cup. The first surface of the paper stack is constantly renewed, and the thickness of the paper stack (the dimension along the first direction) is also constantly decreasing. Under the action of the spring force, the suction cup moves away from the first frame, and the compression of the spring gradually decreases until it becomes zero. When the compression of the spring becomes zero, the suction cup is in its lowest position. At this time, the controller controls the lifting platform to rise so that the suction cup comes into contact with the paper stack, and the spring is in a compressed state.

[0014] Optionally, the guide rod, baffle, and spring constitute an elastic compensation mechanism. During the counting process of the paper stack, there are two methods to change the dimensions of the paper stack and the counting head in the first direction. First, the suction cup adaptively adjusts within a certain range through the elastic compensation mechanism. Second, when the elastic compensation mechanism is insufficient to cooperate with the suction cup to complete subsequent counting operations, the height of the paper stack is raised using a lifting platform. The lifting height of the paper stack by the lifting platform does not exceed the compensation dimension of the elastic compensation mechanism. It should be noted that the lifting of the paper stack by the lifting platform is performed intermittently until the counting work is completed.

[0015] Further, the first pushing mechanism is connected to the counting head. The first pushing mechanism is used to push the counting head to move along a second direction. The second direction is perpendicular to the first direction. Optionally, the second direction is the length direction of the automatic counting system for skewed large paper stacks. Further, the second pushing mechanism is connected to the counting head. The second pushing mechanism is used to push the counting head to move along a third direction. The third direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction. Optionally, the third direction is the width direction of the automatic counting system for skewed large paper stacks. During the counting process of the paper stack, if the paper stack is slightly skewed or the first surface is uneven, the cooperation of the first and second pushing mechanisms causes the counting head to move along the second direction and / or the third direction. The counting head can automatically find the edge and corner according to the offset of the paper edge (e.g., the first edge), ensuring that the counting head is in the appropriate position, which is beneficial for the counting head to continuously count the paper stack.

[0016] Furthermore, a laser rangefinder sensor is mounted on the first frame. The laser rangefinder sensor's dimension in the first direction is larger than the first dimension. Optionally, the laser rangefinder sensor is positioned above the paper stack. The laser rangefinder sensor is used to determine the first distance between the laser rangefinder sensor and the first surface. Since the first surface may have unevenness, before the counting head's suction cup counts the paper stack, the counting head moves back and forth in the second direction with the laser rangefinder sensor, and the changes in the first dimension of the first surface are also collected by the laser rangefinder sensor. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head is determined so that the counting head can smoothly cut into a relatively flat section of the first surface and count the paper stack. Optionally, the controller adjusts the initial dimension of the lifting platform in the first direction according to the first distance to complete the initial adjustment of the relative position between the counting head and the paper stack. Optionally, after determining the approximate working area of ​​the counting head, the working area of ​​the counting head will not be redefined until a new paper stack arrives at the counting station.

[0017] Further, a first photoelectric sensor is disposed on the first frame and is used to acquire first position information of the first side. A second photoelectric sensor is disposed on the first frame and is used to acquire second position information of the first side. During the movement of the counting head along the second direction and / or the third direction, the two photoelectric sensors (the first photoelectric sensor and the second photoelectric sensor) can move together with the counting head. Further, the distance between the first photoelectric sensor and the second photoelectric sensor in the third direction is the second distance. The second distance is the misalignment distance W between the two photoelectric sensors. The misalignment distance (second distance) is determined by the maximum and minimum paper-feeding size of the suction cup in the third direction. Optionally, the misalignment distance is equal to the difference between the maximum and minimum paper-feeding sizes. Before the counting head passes through the paper stack, the distance between the two photoelectric sensors in the third direction is adjusted. When the counting head passes through the paper stack, the paper edge (e.g., the first side) should always be between the two photoelectric sensors. During the edge-finding process of the counting head, the second pushing mechanism pushes the counting head to move along the third direction, and the two photoelectric sensors will detect the reflected signal successively. By cooperating with two photoelectric sensors, the position of the paper edge can be determined to achieve edge detection. Optionally, the first photoelectric sensor is closer to the center of the paper stack. When initially determining the paper edge position, after the first photoelectric sensor receives a reflected signal, the suction cup is at the minimum position of the paper feeding size range. As the counting head continues to move along a third direction, the second photoelectric sensor also receives a reflected signal, at which point the suction cup is at the maximum position of the paper feeding size range. When the suction cup is outside the paper feeding size range, it cannot count properly. The counting head moves in the opposite direction along the third direction, and when the second photoelectric sensor no longer receives a reflected signal, the counting head continues to move in the opposite direction a third distance before stopping. This third distance is within the paper feeding size range. In subsequent edge detection, the controller controls the second pushing mechanism to push the counting head along the third direction until the first photoelectric sensor receives a reflected signal while the second photoelectric sensor does not. Because the paper stack may be skewed, both the first and second photoelectric sensors may receive or not receive reflected signals. When both the first and second photoelectric sensors receive reflected signals, the counting head needs to retract (move in the opposite direction) a certain distance in a third direction until the second photoelectric sensor no longer receives reflected signals. When neither the first nor the second photoelectric sensor receives reflected signals, the counting head needs to advance a certain distance in a third direction until the first photoelectric sensor can receive reflected signals. After the large sheets of banknotes on the top of the stack are successively removed, the two photoelectric sensors work together to detect the position of the paper edges in real time, ensuring that the paper edges are always within the suction cup's paper-eating range.

[0018] Optionally, the automatic counting system for skewed large stacks of paper also includes a third photoelectric sensor and a fourth photoelectric sensor. The third and fourth photoelectric sensors are used to determine the position of the paper corner (e.g., the first corner) to achieve corner detection.

[0019] Furthermore, the controller is connected to the conveying mechanism. The controller controls the conveying mechanism to transport the lifting platform and paper stacks, conveying the paper stacks to be counted to the counting station or the paper stacks that have been counted to the next station. Furthermore, the controller is connected to the lifting platform. The controller controls the lifting platform to adjust the paper stacks to a suitable height. Furthermore, the controller is connected to the counting head. The controller controls the counting head to count the paper stacks. Furthermore, the controller is connected to both the first and second pushing mechanisms. The controller controls the first and second pushing mechanisms to move the counting head along a second and / or third direction. The counting head can automatically find the edge and corner based on the offset of the paper edge (e.g., the first edge), ensuring the counting head is in the appropriate position, which facilitates uninterrupted counting of the paper stacks. Furthermore, the controller is connected to a laser rangefinder. The controller can determine the first distance between the laser rangefinder and the upper surface through the laser rangefinder. Furthermore, the controller is connected to both the first and second photoelectric sensors. The controller acquires first and second position information through these two photoelectric sensors.

[0020] Furthermore, the controller determines a second distance based on the maximum and minimum paper-eating dimensions of the suction cup in the third direction. This second distance is the misalignment distance W between the two photoelectric sensors. The misalignment distance (second distance) is determined by the maximum and minimum paper-eating dimensions of the suction cup in the third direction. Optionally, the misalignment distance is equal to the difference between the maximum and minimum paper-eating dimensions. Before counting the paper scraps in the stack, the distance between the two photoelectric sensors in the third direction is adjusted. After the large sheets of banknotes on the top layer of the stack are successively removed, the two photoelectric sensors work together to detect the position of the paper edges in real time, ensuring that the paper edges are always within the paper-eating dimension range of the suction cup.

[0021] Furthermore, the controller determines the rate of change of the first dimension (the dimension of the first surface in the first direction) based on the first distance (the distance between the laser rangefinder and the upper surface). The controller then determines the movement range of the counting head in the second direction based on the rate of change of the first dimension. Since the first surface may have uneven surfaces, before the counting head's suction cups count the paper stack, the counting head, carrying the laser rangefinder, reciprocates in the second direction, and the change in the first dimension of the first surface is collected by the laser rangefinder. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head is determined, allowing it to smoothly cut into a relatively flat section of the first surface and count the paper stack.

[0022] Furthermore, the controller determines the movement range of the counting paper head in the third direction based on the first and second position information. During the paper head edge-finding process, the second pushing mechanism pushes the counting paper head to move along the third direction, and the two photoelectric sensors detect the reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the purpose of edge finding. Optionally, of the two photoelectric sensors, the first photoelectric sensor is closer to the center of the paper stack. After the large sheets of banknotes on the top layer of the paper stack are successively removed, the cooperation of the two photoelectric sensors can detect the position of the paper edge in real time, ensuring that the paper edge is always within the paper-eating size range of the suction cup.

[0023] Furthermore, the controller determines the size of the lifting platform in the first direction based on the distance between the suction cup and the first frame in the first direction. When the elastic compensation mechanism is insufficient to cooperate with the suction cup to complete subsequent counting operations, the lifting platform raises the size of the paper stack in the first direction. Optionally, a displacement sensor is provided on the first frame, and the compensation size of the elastic compensation mechanism is determined by the displacement sensor. The controller determines the distance between the suction cup and the first frame in the first direction based on the compensation size of the elastic compensation mechanism.

[0024] The technical solution defined in this invention provides an automatic counting system for skewed large stacks of banknotes, capable of continuously counting small quantities of large banknotes from the stack and successively feeding them into the next process. During the counting process, the counting head and the stack can undergo relative positional changes in a first and / or second and / or third direction, allowing the counting head to accurately cut into the edges or corners of the stack, thus satisfying the counting conditions and smoothly completing the counting operation. Specifically, during the counting process, if the stack is slightly skewed or its first surface is uneven, the counting head moves along the second and / or third direction through the cooperation of a first and second pushing mechanism. The counting head can automatically find the edge and corner based on the offset of the paper edge (e.g., the first edge), ensuring the counting head is in a suitable position, which facilitates uninterrupted counting of the stack. This design approach has several advantages. First, it eliminates the need for manual pre-arrangement of paper stacks, saving labor costs and improving work efficiency. Second, it offers a high degree of automation, meeting the demands of automated production.

[0025] In addition, the technical solution provided by the present invention may also have the following additional technical features:

[0026] In some technical solutions, optionally, the automatic counting system for skewed large stacks of paper also includes: a second frame, slidably connected to the first frame, a second pushing mechanism connected to the second frame and the first frame, the second pushing mechanism being used to push the first frame to move relative to the second frame in a third direction; and a third frame, slidably connected to the second frame, the first pushing mechanism being connected to the third frame and the second frame, the first pushing mechanism being used to push the second frame to move relative to the third frame in a second direction.

[0027] In this technical solution, the automatic counting system for skewed large stacks of paper also includes a second frame and a third frame. Specifically, the second frame is slidably connected to the first frame. Optionally, the second frame and the first frame are slidably connected via a first slide rail structure. Optionally, the first slide rail structure includes a first slide rail and a first slider. The first slide rail is located in one of the first and second frames, and the first slider is located in the other of the first and second frames. Optionally, the length direction of the first slide rail is aligned with the third direction. Optionally, the first slide rail has a first groove, and at least part of the first slider is located within the first groove. Through the cooperation of the first slide rail and the first slider, the movement of the first frame relative to the second frame along the third direction is smoother. Optionally, the first slide rail is located in the first frame, and the first slider is located in the second frame; or, the first slide rail is located in the second frame, and the first slider is located in the first frame.

[0028] Furthermore, the second pushing mechanism is connected to the second frame and also to the first frame. The second pushing mechanism is used to push the first frame to move relative to the second frame in a third direction, so that the second pushing mechanism pushes the paper heads to move in the third direction.

[0029] Furthermore, the third frame is slidably connected to the second frame. Optionally, the third frame and the second frame are slidably connected via a second slide rail structure. Optionally, the second slide rail structure includes a second slide rail and a second slider. The second slide rail is located on one of the third and second frames, and the second slider is located on the other. Optionally, the length direction of the second slide rail is consistent with the second direction. Optionally, the second slide rail has a second groove, and at least part of the second slider is located within the second groove. Through the cooperation of the second slide rail and the second slider, the movement of the second frame relative to the third frame along the second direction is more stable.

[0030] Furthermore, the first pushing mechanism is connected to the third frame and also to the second frame. The first pushing mechanism is used to push the second frame to move relative to the third frame in a second direction, so that the first pushing mechanism pushes the paper heads to move in the second direction.

[0031] In some technical solutions, optionally, the first pushing mechanism includes: a first driving block connected to the second frame, the first driving block being relatively fixed to the second frame; a first lead screw rotatably disposed on the third frame, the first lead screw passing through the first driving block, the first lead screw being threadedly connected to the first driving block, the first lead screw being arranged along a second direction; and a first motor disposed on the third frame, the first motor being connected to the first lead screw, the first motor being used to drive the first lead screw to rotate circumferentially.

[0032] In this technical solution, the first pushing mechanism includes a first driving block, a first lead screw, and a first motor. Specifically, the first driving block is connected to the second frame, and the first driving block and the second frame are relatively fixed. Optionally, the first driving block and the second frame are relatively fixed by welding, which simplifies the processing method; or, the first driving block and the second frame are an integral structure, which, compared to post-processing, has better mechanical properties, higher connection strength, and helps to reduce the number of parts and improve assembly efficiency.

[0033] Furthermore, a first lead screw is rotatably mounted on the third frame, and the first lead screw can rotate relative to the third frame. The first lead screw passes through the first drive block. The first lead screw is threadedly connected to the first drive block. The first lead screw is positioned along the second direction. Furthermore, a first motor is mounted on the third frame. The first motor is connected to the first lead screw. The first motor is used to drive the first lead screw to rotate circumferentially. The first pushing mechanism can convert the circumferential rotation of the first lead screw into linear displacement of the first drive block, so that the first pushing mechanism pushes the counting head to move along the second direction. Since the first surface may have unevenness, before the counting head's suction cup counts the paper stack, the counting head, carrying the laser rangefinder, reciprocates in the second direction, and the changes in the first dimension of the first surface are also collected by the laser rangefinder. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head is determined, so that the counting head can smoothly cut into a relatively flat section of the first surface and count the paper stack.

[0034] In some technical solutions, optionally, the second pushing mechanism includes: a second driving block connected to the first frame, the second driving block being relatively fixed to the first frame; a second lead screw rotatably disposed on the second frame, the second lead screw passing through the second driving block, the second lead screw being threadedly connected to the second driving block, the second lead screw being disposed along a third direction; and a second motor disposed on the second frame, the second motor being connected to the second lead screw, the second motor being used to drive the second lead screw to rotate circumferentially.

[0035] In this technical solution, the second pushing mechanism includes a second drive block, a second lead screw, and a second motor. Specifically, the second drive block is connected to the first frame, and the second drive block and the first frame are relatively fixed. Optionally, the second drive block and the first frame are relatively fixed by welding, which simplifies the processing method; or, the second drive block and the first frame are an integral structure, which, compared to post-processing, has better mechanical properties, higher connection strength, and helps to reduce the number of parts and improve assembly efficiency.

[0036] Furthermore, a second lead screw is rotatably mounted on the second frame, allowing it to rotate relative to the second frame. The second lead screw passes through a second drive block and is threadedly connected to the second drive block. The second lead screw is positioned along a third direction. Further, a second motor is mounted on the second frame and connected to the second lead screw. The second motor drives the second lead screw to rotate circumferentially. The second pushing mechanism converts the circumferential rotation of the second lead screw into linear displacement of the second drive block, causing the second pushing mechanism to push the counting head to move along a third direction. During the counting process of the counting head over the paper stack, if the paper stack is slightly skewed, the second pushing mechanism pushes the counting head to move along a third direction. The counting head can automatically find the edge and angle based on the offset of the paper edge (e.g., the first edge), ensuring the counting head is in the appropriate position, which facilitates uninterrupted counting of the paper stack.

[0037] In some technical solutions, the second distance can optionally be the difference between the maximum paper-eating size and the minimum paper-eating size.

[0038] In this technical solution, the second distance is the misalignment distance W between the two photoelectric sensors. The misalignment distance (second distance) is determined by the maximum and minimum paper feed sizes of the suction cup in the third direction. Optionally, the misalignment distance is equal to the difference between the maximum and minimum paper feed sizes. Before counting the paper stack, the distance between the two photoelectric sensors in the third direction is adjusted. When counting the paper stack, the paper edge (e.g., the first edge) should always be between the two photoelectric sensors. During the edge-finding process, the second pushing mechanism pushes the paper head to move along the third direction, and the two photoelectric sensors will detect reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the edge-finding purpose.

[0039] In some technical solutions, optionally, the controller controls the second pushing mechanism to push the paper head upward on the third side based on the first position information and the second position information, so that the first side is between the first photoelectric sensor and the second photoelectric sensor.

[0040] In this technical solution, when counting paper heads over a stack of paper, the paper edge (e.g., the first edge) should always be between two photoelectric sensors. During the edge-finding process, a second pushing mechanism moves the counting head along a third direction, and the two photoelectric sensors detect reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined, thus achieving the purpose of edge finding. After the large sheets of banknotes on the top layer of the stack are successively removed, the cooperation of the two photoelectric sensors can detect the position of the paper edge in real time, ensuring that the paper edge is always within the paper-eating size range of the suction cup.

[0041] A second aspect of the present invention provides an automatic counting method for skewed large paper stacks, applied to the controller of an automatic counting system for skewed large paper stacks in any of the above-described technical solutions, for counting the paper stacks, the paper stacks having a first surface and a second surface disposed opposite to each other in a first direction, the automatic counting method for skewed large paper stacks comprising: determining a first distance between a laser rangefinder and the first surface of the paper stack; determining a rate of change of a first dimension based on the first distance, the first dimension being the dimension of the first surface in the first direction; determining a range of motion of a suction cup in a second direction based on the rate of change, the second direction being perpendicular to the first direction; acquiring first position information and second position information, determining a range of motion of the suction cup in a third direction based on the first position information and the second position information, the third direction being perpendicular to the first direction and the third direction being perpendicular to the second direction; and determining the dimension of a lifting platform in the first direction based on the distance between the suction cup and a first frame in the first direction.

[0042] According to the technical solution of the automatic counting method for skewed large paper stacks of the present invention, the automatic counting method for skewed large paper stacks is applied to the controller of the automatic counting system for skewed large paper stacks in any of the above-mentioned technical solutions. The automatic counting method for skewed large paper stacks is used to count the paper stacks. The paper stack consists of multiple large banknotes (uncut). After the counting process, the paper stack enters the next process (cutting). The paper stack has a first surface and a second surface arranged opposite to each other in a first direction. A first dimension of the first surface in the first direction is larger than a second dimension of the second surface in the first direction. Optionally, the first direction is the height direction of the automatic counting system for skewed large paper stacks. The first dimension is the height of the first surface, and the second dimension is the height of the second surface. Since the first dimension is larger than the second dimension, the first surface is located above the second surface. Optionally, the first surface is the upper surface, and the second surface is the lower surface.

[0043] The specific steps of the automatic counting method for skewed large stacks of paper include:

[0044] The first step is to determine the first distance between the laser rangefinder and the first surface of the paper stack. Optionally, the controller determines the first distance between the laser rangefinder and the upper surface via the laser rangefinder. Since the first surface may be uneven, before the counting suction cup moves over the paper stack, the counting head moves back and forth in the second direction with the laser rangefinder, and the changes in the first dimension of the first surface are collected by the laser rangefinder.

[0045] The second step is to determine the rate of change of the first dimension based on the first distance. The first dimension is the dimension of the first surface in the first direction. Based on the undulations of the first paper surface, the approximate working area for counting the paper head is determined so that the paper head can smoothly cut into a relatively flat section of the first surface and count the paper stack.

[0046] The third step involves determining the movement range of the suction cup in the second direction, perpendicular to the first direction, based on the rate of change. Since the first surface may have unevenness, before the suction cup of the counting head counts the paper stack, the counting head, carrying the laser rangefinder, reciprocates in the second direction, and the changes in the first dimension of the first surface are collected by the laser rangefinder. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head is determined, allowing it to smoothly cut into a relatively flat section of the first surface and count the paper stack. Optionally, after determining the approximate working area of ​​the counting head, it is not redefined until a new paper stack arrives at the counting station.

[0047] The fourth step involves acquiring first and second position information. Based on this information, the movement range of the suction cup in a third direction is determined. This third direction is perpendicular to both the first and second directions. Optionally, the controller acquires the first position information of the first side using a first photoelectric sensor. Optionally, the controller acquires the second position information of the first side using a second photoelectric sensor. When counting paper heads over a stack, the paper edge (e.g., the first side) should always be between the two photoelectric sensors. During the edge-finding process, the second pushing mechanism moves the counting head along a third direction, and the two photoelectric sensors detect reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined, thus achieving the edge-finding purpose. After large sheets of banknotes on the upper layer of the stack are successively removed, the cooperation of the two photoelectric sensors allows for real-time detection of the paper edge's position, ensuring that the paper edge remains within the suction cup's paper-eating range.

[0048] The fifth step is to determine the dimensions of the lifting platform in the first direction based on the distance between the suction cup and the first frame in the first direction. During the counting process of paper stacks, there are two methods to change the dimensions of the paper stack and the counting heads in the first direction. First, the suction cup can adaptively adjust within a certain range using an elastic compensation mechanism. Second, when the elastic compensation mechanism is insufficient to cooperate with the suction cup to complete subsequent counting operations, the height of the paper stack is raised by the lifting platform. The lifting height of the paper stack by the lifting platform does not exceed the compensation dimension of the elastic compensation mechanism. Optionally, a displacement sensor is provided on the first frame to determine the compensation dimension of the elastic compensation mechanism, and the controller determines the distance between the suction cup and the first frame in the first direction based on the compensation dimension of the elastic compensation mechanism.

[0049] The technical solution defined in this invention has two advantages: firstly, it eliminates the need for manual pre-sorting of paper stacks, which helps save labor costs and improve work efficiency; secondly, it has a high degree of automation, which can meet the needs of automated production.

[0050] A third aspect of the present invention provides an electronic device, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of the automatic counting method for skewed large stacks of paper in the above-described technical solution.

[0051] The fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the automatic counting method for skewed large stacks of paper in the above-described technical solution.

[0052] The fifth aspect of the present invention provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled together. The processor is used to run programs or instructions to implement the steps of the automatic counting method for skewed large stacks of paper in the above-mentioned technical solutions.

[0053] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0054] Figure 1 A first schematic diagram of an automatic counting system for skewed large stacks of paper is shown according to an embodiment of the present invention;

[0055] Figure 2 A second schematic diagram of an automatic counting system for skewed large stacks of paper is shown according to an embodiment of the present invention;

[0056] Figure 3 A third schematic diagram of an automatic counting system for skewed large stacks of paper is shown according to an embodiment of the present invention;

[0057] Figure 4 A fourth schematic diagram of an automatic counting system for skewed large stacks of paper is shown according to an embodiment of the present invention;

[0058] Figure 5 A flowchart of an automatic counting method for skewed large stacks of paper is shown according to an embodiment of the present invention.

[0059] in, Figures 1 to 4 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0060] 100: Automatic counting system for skewed large stacks of paper; 110: Conveying mechanism; 120: Lifting platform; 130: Paper counter; 131: First frame; 132: Suction cup; 141: First pushing mechanism; 1411: First drive block; 1412: First lead screw; 1413: First motor; 142: Second pushing mechanism; 1421: Second drive block; 1422: Second lead screw; 1423: Second motor; 151: Laser rangefinder; 152: First photoelectric sensor; 153: Second photoelectric sensor; 154: Third photoelectric sensor; 155: Fourth photoelectric sensor; 160: Controller; 171: Second frame; 172: Third frame; 200: Paper stack; 211: First surface; 212: Second surface; 213: First side; a: First direction; b: Second direction; c: Third direction. Detailed Implementation

[0061] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0062] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0063] The following reference Figures 1 to 5 The present invention describes an automatic counting system 100 for skewed large stacks of paper, an automatic counting method for skewed large stacks of paper, an electronic device, a computer-readable storage medium, and a chip, according to some embodiments of the present invention.

[0064] In one embodiment of the invention, an automatic counting system 100 for skewed large banknote stacks is used to count banknote stacks 200. The banknote stack 200 consists of multiple large banknotes (uncut). After the counting process, the banknote stack 200 proceeds to the next process (cutting). The automatic counting system 100 for skewed large banknote stacks can continuously count a small number of large banknotes (e.g., 100) from the banknote stack 200 and successively input them into the next process. Figure 2 As shown, the paper stack 200 has a first surface 211 and a second surface 212 disposed opposite to each other in a first direction a. The first surface 211 has a first dimension in the first direction a that is larger than the second surface 212 in the first direction a. Optionally, the first direction a is the height direction of the automatic counting system 100 for skewed large paper stacks. The first dimension is the height of the first surface 211, and the second dimension is the height of the second surface 212. Since the first dimension is larger than the second dimension, the first surface 211 is located above the second surface 212. Optionally, the first surface 211 is the upper surface, and the second surface 212 is the lower surface. Further, the first surface 211 has a first edge 213. The automatic counting system 100 for skewed large paper stacks counts the paper stack 200 by counting the edges. Optionally, the first surface 211 has a first angle. The automatic counting system 100 for skewed large paper stacks counts the paper stack 200 by counting the angles.

[0065] Specifically, such as Figure 1 , Figure 2 and Figure 3As shown, an automatic counting system 100 for skewed large stacks of paper includes a conveying mechanism 110, a lifting platform 120, a counting head 130, a first pushing mechanism 141, a second pushing mechanism 142, a laser rangefinder sensor 151, a first photoelectric sensor 152, a second photoelectric sensor 153, and a controller 160. The lifting platform 120 is movably mounted on the conveying mechanism 110. The lifting platform 120 can move relative to the conveying mechanism 110 along a first direction a. Optionally, the lifting platform 120 moves relative to the conveying mechanism 110 along the first direction a via a third pushing mechanism. Optionally, the third pushing mechanism includes a third drive block, a third lead screw, and a third motor. The third drive block is connected to the lifting platform 120 and is relatively fixed to the lifting platform 120. The third lead screw passes through the third drive block and is threadedly connected to the third drive block. The third lead screw moves along the first direction a. Optionally, the third motor is mounted on the conveying mechanism 110. The third motor is connected to the third lead screw. A third motor drives a third lead screw to rotate circumferentially. A third pushing mechanism converts the circumferential rotation of the third lead screw into linear displacement of the third drive block, causing the lifting platform 120 to move relative to the conveying mechanism 110 along a first direction a. Further, the lifting platform 120 is used to place the paper stack 200. The lifting platform 120 abuts against the second surface 212 of the paper stack 200. Optionally, the controller 160 can control the lifting platform 120 to adjust the paper stack 200 to a suitable height. The controller 160 can control the conveying mechanism 110 to convey the lifting platform 120 and the paper stack 200 to a suitable position.

[0066] Furthermore, such as Figure 2 and Figure 4As shown, the paper counting head 130 includes a first frame 131 and a suction cup 132. The suction cup 132 is movable relative to the first frame 131 along a first direction a. Optionally, the paper counting head 130 also includes a guide rod. The first frame 131 has a mounting cavity. One end of the guide rod passes through the mounting cavity. The suction cup 132 is located at the other end of the guide rod and is located outside the mounting cavity. Optionally, a baffle is provided on the circumferential side wall of the guide rod. The paper counting head 130 also includes a spring, which is sleeved on the guide rod. One end of the spring abuts against the baffle, and the other end of the spring abuts against the cavity wall of the mounting cavity. Further, the suction cup 132 is used to abut against the first surface 211 to count the paper stack 200. Optionally, when the suction cup 132 abuts against the first surface 211, the spring is always in a compressed state. Under the force of the spring, suction cup 132 tends to move closer to the stack of paper 200 so that it can abut against the first surface 211. During the counting process of the stack of paper 200, large sheets of banknotes will detach from the stack through suction cup 132. The first surface 211 of the stack of paper 200 is constantly renewed, and the thickness of the stack of paper 200 (the dimension along the first direction a) is constantly decreasing. Under the force of the spring, suction cup 132 moves further away from the first frame 131, and the compression of the spring gradually decreases until it becomes zero. When the compression of the spring becomes zero, suction cup 132 is at its lowest position. At this time, controller 160 controls the lifting platform 120 to rise so that suction cup 132 abuts against the stack of paper 200, and the spring is in a compressed state.

[0067] Optionally, the guide rod, baffle, and spring constitute an elastic compensation mechanism. During the counting process of the paper stack 200 by the counting head 130, there are two methods to change the dimensions of the paper stack 200 and the paper stack 130 in the first direction a. First, the suction cup 132 adaptively adjusts within a certain range through the elastic compensation mechanism; second, when the elastic compensation mechanism is insufficient to cooperate with the suction cup 132 to complete subsequent counting operations, the height of the paper stack 200 is raised by the lifting platform 120. The lifting height of the paper stack 200 by the lifting platform 120 does not exceed the compensation dimension of the elastic compensation mechanism. It should be noted that the lifting of the paper stack 200 by the lifting platform 120 is performed intermittently until the counting work is completed.

[0068] Furthermore, such as Figure 1 , Figure 2 and Figure 3As shown, a first pushing mechanism 141 is connected to a counting head 130. The first pushing mechanism 141 is used to push the counting head 130 along a second direction b. The second direction b is perpendicular to the first direction a. Optionally, the second direction b is the length direction of the automatic counting system 100 for skewed large stacks of paper. Further, a second pushing mechanism 142 is connected to the counting head 130. The second pushing mechanism 142 is used to push the counting head 130 along a third direction c. The third direction c is perpendicular to the first direction a, and the third direction c is perpendicular to the second direction b. Optionally, the third direction c is the width direction of the automatic counting system 100 for skewed large stacks of paper. During the counting process of the paper stack 200 by the counting paper head 130, if the paper stack 200 is slightly skewed or the first surface 211 is uneven, the counting paper head 130 is moved along the second direction b and / or the third direction c by the cooperation of the first pushing mechanism 141 and the second pushing mechanism 142. The counting paper head 130 can automatically find the edge and corner according to the offset of the paper edge (such as the first edge 213) to ensure that the counting paper head 130 is in a suitable position, which is conducive to the uninterrupted counting of the paper stack 200 by the counting paper head 130.

[0069] Furthermore, such as Figure 1 and Figure 2 As shown, a laser rangefinder 151 is mounted on the first frame 131. The size of the laser rangefinder 151 in the first direction a is larger than the first dimension. Optionally, the laser rangefinder 151 is positioned above the paper stack 200. The laser rangefinder 151 is used to determine the first distance between the laser rangefinder 151 and the first surface 211. Since the first surface 211 may have uneven surfaces, before the suction cup 132 of the counting head 130 counts the paper stack 200, the counting head 130 moves back and forth with the laser rangefinder 151 in the second direction b, and the changes in the first dimension of the first surface 211 are also collected by the laser rangefinder 151. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head 130 is determined so that the counting head 130 can smoothly cut into a relatively flat section of the first surface 211 and count the paper stack 200. Optionally, the controller 160 adjusts the initial dimensions of the lifting platform 120 in the first direction a according to the first distance to complete the initial adjustment of the relative position of the counting paper head 130 and the paper stack 200. Optionally, after determining the approximate working area of ​​the counting paper head 130, the working area of ​​the counting paper head 130 will not be redefined until the new paper stack 200 arrives at the counting station.

[0070] Furthermore, such as Figure 1 and Figure 2As shown, a first photoelectric sensor 152 is disposed on the first frame 131, and is used to acquire first position information of the first side 213. A second photoelectric sensor 153 is disposed on the first frame 131, and is used to acquire second position information of the first side 213. During the movement of the counting head 130 along the second direction b and / or the third direction c, the two photoelectric sensors (the first photoelectric sensor 152 and the second photoelectric sensor 153) can move together with the counting head 130. Further, the distance between the first photoelectric sensor 152 and the second photoelectric sensor 153 in the third direction c is the second distance. The second distance is the misalignment distance W between the two photoelectric sensors. The misalignment distance (second distance) is determined by the maximum and minimum paper-feeding size of the suction cup 132 in the third direction c. Optionally, the misalignment distance is equal to the difference between the maximum and minimum paper-feeding sizes. Before the counting head 130 counts the paper stack 200, the distance between the two photoelectric sensors in the third direction c is adjusted. When counting paper from the paper head 130 onto the paper stack 200, the paper edge (e.g., the first edge 213) should always be between the two photoelectric sensors. During the edge-finding process of the paper head 130, the second pushing mechanism 142 pushes the paper head 130 along a third direction c, and the two photoelectric sensors will detect reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the purpose of edge finding. Optionally, of the two photoelectric sensors, the first photoelectric sensor 152 is closer to the center of the paper stack 200. When the paper edge position is initially determined, after the first photoelectric sensor 152 receives the reflected signal, the suction cup 132 is at the minimum position of the paper feeding size range. As the paper head 130 continues to move along the third direction c, after the second photoelectric sensor 153 also receives the reflected signal, the suction cup 132 is at the maximum position of the paper feeding size range. When the suction cup 132 is outside the paper feeding size range, it cannot be counted normally. The counting paper head 130 moves in the opposite direction along the third direction c. When the second photoelectric sensor 153 no longer receives a reflected signal, the counting paper head 130 continues to move in the opposite direction a third distance and then stops. The third distance is within the paper feeding size range. In the subsequent edge finding process, the controller 160 controls the second pushing mechanism 142 to push the counting paper head 130 along the third direction c until the first photoelectric sensor 152 can receive a reflected signal, while the second photoelectric sensor 153 cannot receive a reflected signal. Since the paper stack 200 may be skewed, both the first photoelectric sensor 152 and the second photoelectric sensor 153 may receive a reflected signal or not.When both the first photoelectric sensor 152 and the second photoelectric sensor 153 receive reflected signals, the counting head 130 needs to retract (move in the opposite direction) a certain distance along the third direction c until the second photoelectric sensor 153 no longer receives reflected signals; when neither the first photoelectric sensor 152 nor the second photoelectric sensor 153 receives reflected signals, the counting head 130 needs to advance a certain distance along the third direction c until the first photoelectric sensor 152 can receive reflected signals. After the large sheets of banknotes on the upper layer of the paper stack 200 are successively removed, the position of the paper edge can be detected in real time through the cooperation of the two photoelectric sensors, ensuring that the paper edge is always within the paper-eating size range of the suction cup 132.

[0071] Optionally, such as Figure 1 and Figure 2 As shown, the automatic counting system 100 for skewed large stacks of paper also includes a third photoelectric sensor 154 and a fourth photoelectric sensor 155. The third photoelectric sensor 154 and the fourth photoelectric sensor 155 are used to determine the position of the paper corner (e.g., the first corner) to achieve the purpose of corner finding.

[0072] Furthermore, such as Figure 1 As shown, controller 160 is connected to conveying mechanism 110. Controller 160 controls conveying mechanism 110 to transport lifting platform 120 and paper stack 200, transporting paper stack 200 to be counted to counting station or transporting counted paper stack 200 to the next station. Further, controller 160 is connected to lifting platform 120. Controller 160 controls lifting platform 120 to adjust paper stack 200 to a suitable height. Further, controller 160 is connected to counting head 130. Controller 160 controls counting head 130 to count paper stack 200. Further, controller 160 is connected to first pushing mechanism 141 and second pushing mechanism 142. The controller 160 controls the first pushing mechanism 141 and the second pushing mechanism 142 to move the counting head 130 along the second direction b and / or the third direction c. The counting head 130 can automatically find the edge and corner based on the offset of the paper edge (e.g., the first edge 213) to ensure that the counting head 130 is in a suitable position, which is beneficial for the counting head 130 to continuously count the paper stack 200. Further, the controller 160 is connected to the laser rangefinder 151. The controller 160 can determine the first distance between the laser rangefinder 151 and the upper surface through the laser rangefinder 151. Further, the controller 160 is connected to the first photoelectric sensor 152 and the second photoelectric sensor 153. The controller 160 acquires the first position information and the second position information through the two photoelectric sensors.

[0073] Further, the controller 160 determines a second distance based on the maximum and minimum paper-eating dimensions of the suction cup 132 in the third direction c. The second distance is the misalignment distance W between the two photoelectric sensors. The misalignment distance (second distance) is determined by the maximum and minimum paper-eating dimensions of the suction cup 132 in the third direction c. Optionally, the misalignment distance is equal to the difference between the maximum and minimum paper-eating dimensions. Before counting the paper stack 200 by the counting head 130, the distance between the two photoelectric sensors in the third direction c is adjusted. After the large sheets of banknotes on the upper layer of the paper stack 200 are successively removed, the two photoelectric sensors, working together, can detect the position of the paper edges in real time, ensuring that the paper edges are always within the paper-eating dimension range of the suction cup 132.

[0074] Furthermore, the controller 160 determines the rate of change of the first dimension (the dimension of the first surface 211 in the first direction a) based on the first distance (the distance between the laser rangefinder 151 and the upper surface). The controller 160 then determines the movement range of the counting head 130 in the second direction b based on the rate of change of the first dimension. Since the first surface 211 may have uneven surfaces, before the suction cup 132 of the counting head 130 counts the paper stack 200, the counting head 130, carrying the laser rangefinder 151, reciprocates in the second direction b, and the change in the first dimension of the first surface 211 is collected by the laser rangefinder 151. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head 130 is determined, allowing the counting head 130 to smoothly cut into a relatively flat section of the first surface 211 and count the paper stack 200.

[0075] Furthermore, the controller 160 determines the movement range of the counting paper head 130 along the third direction c based on the first and second position information. During the edge-finding process of the counting paper head 130, the second pushing mechanism 142 pushes the counting paper head 130 to move along the third direction c, and the two photoelectric sensors detect the reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the purpose of edge finding. Optionally, among the two photoelectric sensors, the first photoelectric sensor 152 is closer to the center of the paper stack 200. After the large sheets of banknotes on the upper layer of the paper stack 200 are successively removed, through the cooperation of the two photoelectric sensors, the position of the paper edge can be detected in real time, ensuring that the paper edge is always within the paper-eating size range of the suction cup 132.

[0076] Furthermore, the controller 160 determines the size of the lifting platform 120 in the first direction a based on the distance between the suction cup 132 and the first frame 131 in the first direction a. When the elastic compensation mechanism is insufficient to cooperate with the suction cup 132 to complete subsequent counting operations, the lifting platform 120 raises the size of the paper stack 200 in the first direction a. Optionally, a displacement sensor is provided on the first frame 131, and the compensation size of the elastic compensation mechanism is determined by the displacement sensor. The controller 160 determines the distance between the suction cup 132 and the first frame 131 in the first direction a based on the compensation size of the elastic compensation mechanism.

[0077] In the technical solution defined by this invention, the automatic counting system 100 for skewed large stacks of banknotes can continuously count a small number of large banknotes from the stack 200 and successively input them into the next process. During the counting process of the counting head 130 on the stack 200, the relative position between the counting head 130 and the stack 200 can change in the first direction a and / or the second direction b and / or the third direction c, so that the counting head 130 can accurately cut into the edge or corner of the stack 200, thereby meeting the counting conditions and smoothly completing the counting operation. Specifically, during the counting process of the paper stack 200 by the counting head 130, if the paper stack 200 is slightly skewed or the first surface 211 is uneven, the counting head 130 moves along the second direction b and / or the third direction c through the cooperation of the first pushing mechanism 141 and the second pushing mechanism 142. The counting head 130 can automatically find the edge and corner according to the offset of the paper edge (such as the first edge 213), ensuring that the counting head 130 is in a suitable position, which is conducive to the uninterrupted counting of the paper stack 200 by the counting head 130. This design method, on the one hand, eliminates the need for manual pre-sorting of the paper stack 200, which helps to save labor costs and improve work efficiency; on the other hand, it has a high degree of automation and can meet the needs of automated production.

[0078] In some embodiments, optionally, such as Figure 2 and Figure 4As shown, the automatic counting system 100 for skewed large stacks of paper also includes a second frame 171 and a third frame 172. Specifically, the second frame 171 is slidably connected to the first frame 131. Optionally, the second frame 171 and the first frame 131 are slidably connected via a first slide rail structure. Optionally, the first slide rail structure includes a first slide rail and a first slider. The first slide rail is located on one of the first frame 131 and the second frame 171, and the first slider is located on the other of the first frame 131 and the second frame 171. Optionally, the length direction of the first slide rail is consistent with the third direction c. Optionally, the first slide rail has a first groove, and at least part of the first slider is located in the first groove. Through the cooperation of the first slide rail and the first slider, the movement of the first frame 131 relative to the second frame 171 along the third direction c is more stable. Optionally, the first slide rail is located on the first frame 131 and the first slider is located on the second frame 171; or, the first slide rail is located on the second frame 171 and the first slider is located on the first frame 131.

[0079] Furthermore, the second pushing mechanism 142 is connected to the second frame 171 and also to the first frame 131. The second pushing mechanism 142 is used to push the first frame 131 to move relative to the second frame 171 along a third direction c, so that the second pushing mechanism 142 pushes the paper head 130 to move along the third direction c.

[0080] Furthermore, the third frame 172 is slidably connected to the second frame 171. Optionally, the third frame 172 and the second frame 171 are slidably connected via a second slide rail structure. Optionally, the second slide rail structure includes a second slide rail and a second slider. The second slide rail is located on one of the third frame 172 and the second frame 171, and the second slider is located on the other of the third frame 172 and the second frame 171. Optionally, the length direction of the second slide rail is consistent with the second direction b. Optionally, the second slide rail has a second groove, and at least part of the second slider is located in the second groove. Through the cooperation of the second slide rail and the second slider, the movement of the second frame 171 relative to the third frame 172 along the second direction b is more stable.

[0081] Furthermore, the first pushing mechanism 141 is connected to the third frame 172, and the first pushing mechanism 141 is also connected to the second frame 171. The first pushing mechanism 141 is used to push the second frame 171 to move relative to the third frame 172 along the second direction b, so that the first pushing mechanism 141 pushes the counting paper head 130 to move along the second direction b.

[0082] In some embodiments, optionally, such as Figure 4As shown, the first pushing mechanism 141 includes a first driving block 1411, a first lead screw 1412, and a first motor 1413. Specifically, the first driving block 1411 is connected to the second frame 171, and the first driving block 1411 and the second frame 171 are relatively fixed. Optionally, the first driving block 1411 and the second frame 171 are relatively fixed by welding, which simplifies the processing method; or, the first driving block 1411 and the second frame 171 are an integral structure, which has better mechanical properties and higher connection strength compared to post-processing, and helps to reduce the number of parts and improve assembly efficiency.

[0083] Furthermore, the first lead screw 1412 is rotatably mounted on the third frame 172, and the first lead screw 1412 can rotate relative to the third frame 172. The first lead screw 1412 passes through the first drive block 1411. The first lead screw 1412 is threadedly connected to the first drive block 1411. The first lead screw 1412 is arranged along the second direction b. Furthermore, the first motor 1413 is mounted on the third frame 172. The first motor 1413 is connected to the first lead screw 1412. The first motor 1413 is used to drive the first lead screw 1412 to rotate circumferentially. The first pushing mechanism 141 can convert the circumferential rotation of the first lead screw 1412 into a linear displacement of the first drive block 1411, so that the first pushing mechanism 141 pushes the counting paper head 130 to move along the second direction b. Since the first surface 211 may have unevenness, before the suction cup 132 of the counting head 130 counts the paper stack 200, the counting head 130, carrying the laser rangefinder 151, reciprocates in the second direction b. The changes in the first dimension of the first surface 211 are then captured by the laser rangefinder 151. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head 130 is determined, allowing it to smoothly cut into a relatively flat section of the first surface 211 and count the paper stack 200.

[0084] In some embodiments, optionally, such as Figure 4 As shown, the second pushing mechanism 142 includes a second drive block 1421, a second lead screw 1422, and a second motor 1423. Specifically, the second drive block 1421 is connected to the first frame 131, and the second drive block 1421 and the first frame 131 are relatively fixed. Optionally, the second drive block 1421 and the first frame 131 are relatively fixed by welding, which simplifies the processing method; or, the second drive block 1421 and the first frame 131 are an integral structure, which has better mechanical properties and higher connection strength compared to post-processing, and helps to reduce the number of parts and improve assembly efficiency.

[0085] Furthermore, the second lead screw 1422 is rotatably mounted on the second frame 171, and the second lead screw 1422 can rotate relative to the second frame 171. The second lead screw 1422 passes through the second drive block 1421. The second lead screw 1422 is threadedly connected to the second drive block 1421. The second lead screw 1422 is arranged along a third direction c. Furthermore, the second motor 1423 is mounted on the second frame 171. The second motor 1423 is connected to the second lead screw 1422. The second motor 1423 is used to drive the second lead screw 1422 to rotate circumferentially. The second pushing mechanism 142 can convert the circumferential rotation of the second lead screw 1422 into a linear displacement of the second drive block 1421, so that the second pushing mechanism 142 pushes the counting paper head 130 to move along a third direction c. During the counting process of the paper stack 200 by the counting paper head 130, if the paper stack 200 is slightly skewed, the second pushing mechanism 142 pushes the counting paper head 130 to move along the third direction c. The counting paper head 130 can automatically find the edge and corner according to the offset of the paper edge (such as the first edge 213) to ensure that the counting paper head 130 is in a proper position, which is conducive to the uninterrupted counting of the paper stack 200 by the counting paper head 130.

[0086] In some embodiments, optionally, the second distance is the difference between the maximum and minimum paper feed size. The second distance is the misalignment distance W between the two photoelectric sensors. The misalignment distance (second distance) is determined by the maximum and minimum paper feed sizes of the suction cup 132 in the third direction c. Optionally, the misalignment distance is equal to the difference between the maximum and minimum paper feed sizes. Before the counting head 130 counts the paper stack 200, the distance between the two photoelectric sensors in the third direction c is adjusted. When the counting head 130 counts the paper stack 200, the paper edge (e.g., the first edge 213) should always be between the two photoelectric sensors. During the edge-finding process of the counting head 130, the second pushing mechanism 142 pushes the counting head 130 to move along the third direction c, and the two photoelectric sensors will detect the reflected signal successively. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the purpose of edge finding.

[0087] Optionally, in some embodiments, the controller 160 controls the second pushing mechanism 142 to move the counting head 130 along the third direction c based on the first position information and the second position information, so that the first edge 213 is between the first photoelectric sensor 152 and the second photoelectric sensor 153. When the counting head 130 counts the paper stack 200, the paper edge (e.g., the first edge 213) should always be between the two photoelectric sensors. During the edge-finding process of the counting head 130, the second pushing mechanism 142 pushes the counting head 130 along the third direction c, and the two photoelectric sensors will detect reflected signals sequentially. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the purpose of edge finding. After the large sheets of banknotes on the upper layer of the paper stack 200 are successively removed, through the cooperation of the two photoelectric sensors, the position of the paper edge can be detected in real time, ensuring that the paper edge is always within the paper-eating size range of the suction cup 132.

[0088] In one embodiment of the present invention, an automatic counting method for skewed large banknote stacks is applied to the controller 160 of the automatic counting system 100 for skewed large banknote stacks in any of the above embodiments. The automatic counting method for skewed large banknote stacks is used to count banknote stacks 200. The banknote stack 200 consists of a stack of multiple large banknotes (uncut). After the counting process, the banknote stack 200 proceeds to the next process (cutting). The banknote stack 200 has a first surface 211 and a second surface 212 disposed opposite to each other in a first direction a. A first dimension of the first surface 211 in the first direction a is greater than a second dimension of the second surface 212 in the first direction a. Optionally, the first direction a is the height direction of the automatic counting system 100 for skewed large banknote stacks. The first dimension is the height of the first surface 211, and the second dimension is the height of the second surface 212. Since the first dimension is greater than the second dimension, the first surface 211 is located above the second surface 212. Optionally, the first surface 211 is the upper surface, and the second surface 212 is the lower surface.

[0089] like Figure 5 As shown, the specific steps of the automatic counting method for skewed large stacks of paper include:

[0090] S502, determine the first distance between the laser rangefinder and the first surface of the paper stack. Optionally, the controller determines the first distance between the laser rangefinder and the upper surface via the laser rangefinder. Since the first surface may have unevenness, before the counting suction cup moves over the paper stack, the counting head moves back and forth in the second direction with the laser rangefinder, and the change in the first dimension of the first surface is also collected by the laser rangefinder.

[0091] S504, determine the rate of change of the first dimension based on the first distance, where the first dimension is the dimension of the first surface in the first direction. Based on the variation of the height of the first paper surface, determine the approximate working area for counting the paper head, so that the paper head can smoothly cut into a relatively flat section of the first surface and count the paper stack.

[0092] S506, the movement range of the suction cup in the second direction is determined based on the rate of change, and the second direction is perpendicular to the first direction. Since the first surface may have unevenness, before the suction cup of the counting head counts the paper stack, the counting head, carrying the laser rangefinder, reciprocates in the second direction, and the changes in the first dimension of the first surface are collected by the laser rangefinder. Based on the unevenness of the first paper surface, the approximate working area of ​​the counting head is determined so that the counting head can smoothly cut into a relatively flat section of the first surface and count the paper stack. Optionally, after determining the approximate working area of ​​the counting head, the working area of ​​the counting head is not redefined until a new paper stack arrives at the counting station.

[0093] S508: Acquire first position information and second position information, and determine the movement range of the suction cup in a third direction based on the first and second position information. The third direction is perpendicular to the first direction and perpendicular to the second direction. Optionally, the controller acquires the first position information of the first side through a first photoelectric sensor. Optionally, the controller acquires the second position information of the first side through a second photoelectric sensor. When counting paper heads over a paper stack, the paper edge (e.g., the first side) should always be between the two photoelectric sensors. During the paper head edge-finding process, the second pushing mechanism pushes the counting head to move along the third direction, and the two photoelectric sensors will detect reflected signals successively. Through the cooperation of the two photoelectric sensors, the position of the paper edge can be determined to achieve the purpose of edge finding. Optionally, among the two photoelectric sensors, the first photoelectric sensor is closer to the center of the paper stack. When the paper edge position is initially determined, after the first photoelectric sensor receives the reflected signal, the suction cup is at the minimum position of the paper-eating size range. When the counting head continues to move along the third direction, after the second photoelectric sensor also receives the reflected signal, the suction cup is at the maximum position of the paper-eating size range. When the suction cup is outside the paper-eating size range, it cannot count paper correctly. The counting head moves in the opposite direction along a third direction. When the second photoelectric sensor does not receive a reflected signal, the counting head continues to move in the opposite direction a third distance and then stops. This third distance is within the paper-eating size range. In the subsequent edge-finding process, the controller controls the second pushing mechanism to push the counting head along a third direction until the first photoelectric sensor can receive a reflected signal, while the second photoelectric sensor cannot. Since the paper stack may be skewed, both the first and second photoelectric sensors may receive a reflected signal or not. When both the first and second photoelectric sensors receive a reflected signal, the counting head needs to retract (move in the opposite direction) a certain distance along a third direction until the second photoelectric sensor no longer receives a reflected signal; when neither the first nor the second photoelectric sensor receives a reflected signal, the counting head needs to advance a certain distance along a third direction until the first photoelectric sensor can receive a reflected signal. After the large sheets of banknotes on the top of the paper stack are successively removed, the two photoelectric sensors work together to detect the position of the paper edge in real time, ensuring that the paper edge is always within the paper-eating size range of the suction cup.

[0094] S510, the dimension of the lifting platform in the first direction is determined based on the distance between the suction cup and the first frame in the first direction. During the counting process of paper stacks, there are two methods to change the dimensions of the paper stack and the counting heads in the first direction. First, the suction cup adaptively adjusts within a certain range using an elastic compensation mechanism; second, when the elastic compensation mechanism is insufficient to cooperate with the suction cup to complete subsequent counting operations, the height of the paper stack is raised by the lifting platform. The lifting height of the paper stack by the lifting platform does not exceed the compensation dimension of the elastic compensation mechanism. Optionally, a displacement sensor is provided on the first frame, and the compensation dimension of the elastic compensation mechanism is determined by the displacement sensor. The controller determines the distance between the suction cup and the first frame in the first direction based on the compensation dimension of the elastic compensation mechanism.

[0095] The technical solution defined in this invention has two advantages: firstly, it eliminates the need for manual pre-sorting of paper stacks, which helps save labor costs and improve work efficiency; secondly, it has a high degree of automation, which can meet the needs of automated production.

[0096] In one embodiment of the present invention, the electronic device includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the steps of the automatic counting method for skewed large stacks of paper described in the above embodiments.

[0097] In one embodiment of the present invention, a computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the automatic counting method for skewed large stacks of paper described in the above embodiments.

[0098] In one embodiment of the present invention, the chip includes a processor and a communication interface, the communication interface and the processor being coupled together, the processor being used to run a program or instructions to implement the steps of the automatic counting method for skewed large stacks of paper in the above embodiments.

Claims

1. An automatic counting system for skewed large stacks of paper, characterized in that, For counting paper stacks (200), the paper stacks (200) have a first surface (211) and a second surface (212) disposed opposite each other in a first direction, the first surface (211) having a first dimension in the first direction being larger than the second dimension of the second surface (212) in the first direction, the first surface (211) having a first edge (213), the automatic counting system for skewed large paper stacks includes: Transmission mechanism (110); A lifting platform (120) is movably disposed on the conveying mechanism (110). The lifting platform (120) is movable relative to the conveying mechanism (110) along the first direction. The lifting platform (120) is used to place the paper stack (200). The lifting platform (120) abuts against the second surface (212). Count the paper scraps (130), including: First frame (131); A suction cup (132) is movably disposed on the first frame (131). The suction cup (132) is movable relative to the first frame (131) along the first direction. The suction cup (132) is used to abut against the first surface (211) to count the paper stack (200). A first pushing mechanism (141) is connected to the counting paper head (130). The first pushing mechanism (141) is used to push the counting paper head (130) to move along a second direction, which is perpendicular to the first direction. The second pushing mechanism (142) is connected to the counting paper head (130). The second pushing mechanism (142) is used to push the counting paper head (130) to move along a third direction, which is perpendicular to the first direction and perpendicular to the second direction. A laser rangefinder (151) is disposed on the first frame (131). The size of the laser rangefinder (151) in the first direction is larger than the first size. During the movement of the counting paper head (130) along the second direction, the laser rangefinder (151) is used to determine the first distance between the laser rangefinder (151) and the first surface (211). A first photoelectric sensor (152) is disposed on the first frame (131), and the first photoelectric sensor (152) is used to obtain the first position information of the first side (213); A second photoelectric sensor (153) is disposed on the first frame (131). The second photoelectric sensor (153) is used to obtain the second position information of the first side (213). The distance between the first photoelectric sensor (152) and the second photoelectric sensor (153) in the third direction is the second distance. A controller (160) is connected to the conveying mechanism (110), the lifting platform (120), the paper counting head (130), the first pushing mechanism (141), the second pushing mechanism (142), the laser rangefinder (151), the first photoelectric sensor (152), and the second photoelectric sensor (153). The controller (160) determines the second distance based on the maximum and minimum paper-eating size of the suction cup (132) in the third direction. The controller (160) determines the rate of change of the first size based on the first distance. The controller (160) determines the movement range of the paper counting head (130) in the second direction based on the rate of change. The controller (160) determines the movement range of the paper counting head (130) in the third direction based on the first position information and the second position information. The controller (160) determines the size of the lifting platform (120) in the first direction based on the distance between the suction cup (132) and the first frame (131) in the first direction.

2. The automatic counting system for skewed large stacks of paper as described in claim 1, characterized in that, Also includes: The second frame (171) is slidably connected to the first frame (131), and the second pushing mechanism (142) is connected to the second frame (171) and the first frame (131). The second pushing mechanism (142) is used to push the first frame (131) to move relative to the second frame (171) along the third direction. The third frame (172) is slidably connected to the second frame (171), and the first pushing mechanism (141) is connected to the third frame (172) and the second frame (171). The first pushing mechanism (141) is used to push the second frame (171) to move relative to the third frame (172) along the second direction.

3. The automatic counting system for skewed large stacks of paper as described in claim 2, characterized in that, The first pushing mechanism (141) includes: The first drive block (1411) is connected to the second frame (171), and the first drive block (1411) and the second frame (171) are fixed relative to each other; The first lead screw (1412) is rotatably mounted on the third frame (172). The first lead screw (1412) passes through the first drive block (1411). The first lead screw (1412) is threadedly connected to the first drive block (1411). The first lead screw (1412) is arranged along the second direction. A first motor (1413) is provided on the third frame (172). The first motor (1413) is connected to the first lead screw (1412). The first motor (1413) is used to drive the first lead screw (1412) to rotate circumferentially.

4. The automatic counting system for skewed large stacks of paper as described in claim 2, characterized in that, The second pushing mechanism (142) includes: The second drive block (1421) is connected to the first frame (131), and the second drive block (1421) is fixed relative to the first frame (131); The second lead screw (1422) is rotatably mounted on the second frame (171). The second lead screw (1422) passes through the second drive block (1421). The second lead screw (1422) is threadedly connected to the second drive block (1421). The second lead screw (1422) is arranged along the third direction. The second motor (1423) is located on the second frame (171). The second motor (1423) is connected to the second lead screw (1422). The second motor (1423) is used to drive the second lead screw (1422) to rotate circumferentially.

5. The automatic counting system for skewed large stacks of paper according to any one of claims 1 to 4, characterized in that, The second distance is the difference between the maximum paper-eating size and the minimum paper-eating size.

6. The automatic counting system for skewed large stacks of paper according to any one of claims 1 to 4, characterized in that, The controller (160) controls the second pushing mechanism (142) to push the paper head (130) upward on the third party according to the first position information and the second position information, so that the first side (213) is between the first photoelectric sensor (152) and the second photoelectric sensor (153).

7. An automatic counting method for skewed large stacks of paper, characterized in that, A controller for an automatic counting system for skewed large paper stacks as described in any one of claims 1 to 6, for counting the paper stacks, the paper stacks having a first surface and a second surface disposed opposite to each other in a first direction, the automatic counting method for skewed large paper stacks comprising: Determine a first distance between the laser rangefinder and the first surface of the paper stack; The rate of change of the first dimension is determined based on the first distance, where the first dimension is the dimension of the first surface in the first direction; The range of motion of the suction cup in the second direction is determined based on the rate of change, wherein the second direction is perpendicular to the first direction; Obtain first position information and second position information, and determine the range of movement of the suction cup in a third direction based on the first position information and the second position information, wherein the third direction is perpendicular to the first direction and the third direction is perpendicular to the second direction; The dimensions of the lifting platform in the first direction are determined based on the distance between the suction cup and the first frame in the first direction.

8. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the automatic counting method for skewed large stacks of paper as described in claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the automatic counting method for skewed large stacks of paper as described in claim 7.

10. A chip, characterized in that, The chip includes a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the steps of the automatic counting method for skewed large stacks of paper as described in claim 7.

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