Banknote feeding control method and system of banknote sorter, and related equipment

Abstract

The invention provides a banknote feeding control method and system of a banknote sorter and related equipment, and relates to the technical field of banknote sorting. According to the technical scheme provided by the invention, the adhesive tape coverage length ratio is calculated by recording the position coordinates of the abrupt change points at the sampling moments, so that the segmented friction force sequence is obtained, and the influence of adhesive tape distribution on paper money friction characteristics is accurately reflected. And calculating an instantaneous speed change curve according to the segmented friction force sequence, obtaining an accumulated displacement amount through time integration, and accurately predicting an actual motion track of the adhesive tape-equipped paper money. The time difference between the target time and the standard time when the accumulated displacement is equal to the standard distance is calculated to determine the sorting trigger time, the influence of the speed change caused by the adhesive tape on the arrival time is compensated, and the sorting instruction is sent at the sorting trigger time to ensure that the adhesive tape-equipped paper money accurately reaches the sorting position and is sorted to the damaged and damaged paper money channel. Therefore, paper money with adhesive tapes can be accurately sorted, and the paper money sorting effect is improved.

Description

Technical Field

[0001] This application relates to the field of banknote sorting technology, specifically to a banknote sorting machine's banknote feeding control method, system, and related equipment. Background Technology

[0002] Banknote sorting machines are essential equipment for banks and other financial institutions to sort banknotes. Their main functions include verifying the authenticity of returned banknotes, identifying denominations, determining their condition, and sorting damaged banknotes. In practice, damaged banknotes often mix with those repaired with tape. These banknotes are patched with tape due to tears, chips, or missing corners. Tape application alters the thickness distribution, surface characteristics, and movement of the banknotes during transport, causing deviations in their position and speed within the banknote conveyor. This negatively impacts the accuracy of subsequent image acquisition, feature recognition, and sorting.

[0003] To address the aforementioned issues, a banknote sorting and control system based on multi-sensor detection has emerged. This system places photoelectric sensors and thickness detection sensors at different locations in the banknote conveyor. By detecting changes in the thickness of banknotes as they pass through, it identifies banknotes with adhesive tape. When an abnormal thickness is detected, the control system triggers an alarm and directs the banknote to the damaged banknote receiving box, thus separating it from the normal circulation banknotes. This approach can identify and sort banknotes with adhesive tape to a certain extent, improving the accuracy of sorting.

[0004] However, the aforementioned technologies still have technical problems in practical applications. Because the adhesive side of the banknote with tape is much smoother than the banknote surface, its movement trajectory and speed in the banknote conveyor differ from those of a normal banknote. This difference is particularly noticeable during high-speed sorting, causing a deviation between the banknote's arrival at the detection position and the control system's expected arrival time. However, the control systems in these technologies often employ fixed timing logic, triggering detection and sorting actions according to preset time intervals. This fixed timing cannot adapt to the changing movement of the banknote with tape. When the banknote actually arrives at the detection position earlier or later than the preset time, a time mismatch occurs between the detection signal and the sorting action, leading to inaccurate timing of the sorting mechanism, resulting in missed detections or incorrect rejections, and ultimately, poor banknote sorting performance. Summary of the Invention

[0005] This application provides a banknote sorting machine's banknote feeding control method, system, and related equipment, which can accurately sort banknotes with adhesive tape, thereby improving the banknote sorting effect.

[0006] Firstly, this application provides a method for controlling the banknote flow of a banknote sorting machine, the method comprising: During the process of the banknote passing through the first detection position of the banknote passage, thickness distribution data perpendicular to the banknote passage direction is acquired according to a preset sampling period, and thickness gradient sequence is calculated based on the thickness distribution data. The thickness gradient sequence includes a representation of the thickness change rate between adjacent sampling points. When there is a sudden change point in the thickness gradient sequence at any sampling time where the gradient value is greater than the preset gradient threshold, the banknote is determined to be a banknote with adhesive tape, and the position coordinates of the sudden change point detected at each sampling time are recorded. Based on the position coordinates at each sampling time, the proportion of the tape's coverage length in the direction perpendicular to the coin movement is calculated at each sampling time. Based on the coverage length proportion, the equivalent friction coefficient of the corresponding position segment at each sampling time is calculated to obtain the segmented friction force sequence along the coin movement direction. The instantaneous velocity change curve of the banknote with adhesive tape moving from the first detection position to the preset second detection position is calculated based on the segmented friction force sequence, and the cumulative displacement of the banknote with adhesive tape is calculated by time integration based on the instantaneous velocity change curve. Calculate the target time when the cumulative displacement is equal to the standard distance between the first detection position and the second detection position, and determine the sorting trigger time based on the time difference between the target time and the standard time. The standard time is the time when the banknote without tape arrives at the second detection position at a preset banknote speed. At the moment the sorting is triggered, a sorting instruction is sent to the sorting execution agency to sort the banknotes with adhesive tape into the damaged banknote channel.

[0007] By employing the above technical solution, thickness distribution data is acquired at the first detection position according to a preset sampling period, and a thickness gradient sequence is calculated. Abrupt points where the gradient value exceeds a preset gradient threshold are used to accurately identify banknotes with adhesive tape. The proportion of tape coverage length is calculated by recording the position coordinates of these abrupt points at each sampling moment, thus obtaining a segmented friction force sequence that accurately reflects the influence of tape distribution on the banknote's frictional characteristics. Based on the segmented friction force sequence, an instantaneous velocity change curve is calculated, and the cumulative displacement is obtained through time integration, accurately predicting the actual trajectory of the banknote with adhesive tape. The sorting trigger moment is determined by calculating the time difference between the target moment when the cumulative displacement equals the standard distance and the standard moment, compensating for the impact of velocity changes caused by the tape on arrival time. At the sorting trigger moment, a sorting command is sent to ensure that the banknote with adhesive tape accurately reaches the sorting position and is sorted into the damaged banknote channel, thereby accurately sorting banknotes with adhesive tape and improving the banknote sorting effect.

[0008] Secondly, this application provides a banknote sorting machine's banknote feeding control system, the system comprising: The sampling module is used to acquire thickness distribution data perpendicular to the banknote movement direction at a preset sampling period during the process of the banknote passing through the first detection position of the banknote movement channel, and to calculate the thickness gradient sequence based on the thickness distribution data. The thickness gradient sequence includes a representation of the thickness change rate between adjacent sampling points. The identification module is used to determine that the banknote is a banknote with adhesive tape when there is a sudden change point in the thickness gradient sequence at any sampling time where the gradient value is greater than a preset gradient threshold, and to record the position coordinates of the sudden change point detected at each sampling time. The first calculation module is used to calculate the coverage length ratio of the tape in the direction perpendicular to the coin movement at each sampling time based on the position coordinates at each sampling time, and to calculate the equivalent friction coefficient of the corresponding position segment at each sampling time based on the coverage length ratio, so as to obtain the segmented friction force sequence along the coin movement direction. The second calculation module is used to calculate the instantaneous velocity change curve of the banknote with adhesive tape as it moves from the first detection position to the preset second detection position based on the segmented friction force sequence, and to calculate the cumulative displacement of the banknote with adhesive tape by time integration based on the instantaneous velocity change curve. The sorting time determination module is used to calculate the target time when the cumulative displacement is equal to the standard distance between the first detection position and the second detection position, and to determine the sorting trigger time based on the time difference between the target time and the standard time. The standard time is the time when the banknote without tape arrives at the second detection position at a preset banknote speed. The sorting execution module is used to send sorting instructions to the sorting execution agency at the time of sorting trigger, and sort the banknotes with adhesive tape to the damaged banknote channel.

[0009] Thirdly, this application provides a computer storage medium that stores multiple instructions adapted for loading by a processor and executing any of the methods described above.

[0010] Fourthly, this application provides an electronic device including a processor, a memory, and a transceiver. The memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform any of the methods described above.

[0011] In summary, the beneficial effects of the technical solution of this application include: By employing the above technical solution, thickness distribution data is acquired at the first detection position according to a preset sampling period, and a thickness gradient sequence is calculated. Abrupt points where the gradient value exceeds a preset gradient threshold are used to accurately identify banknotes with adhesive tape. The proportion of tape coverage length is calculated by recording the position coordinates of these abrupt points at each sampling moment, thus obtaining a segmented friction force sequence that accurately reflects the influence of tape distribution on the banknote's frictional characteristics. Based on the segmented friction force sequence, an instantaneous velocity change curve is calculated, and the cumulative displacement is obtained through time integration, accurately predicting the actual trajectory of the banknote with adhesive tape. The sorting trigger moment is determined by calculating the time difference between the target moment when the cumulative displacement equals the standard distance and the standard moment, compensating for the impact of velocity changes caused by the tape on arrival time. At the sorting trigger moment, a sorting command is sent to ensure that the banknote with adhesive tape accurately reaches the sorting position and is sorted into the damaged banknote channel, thereby accurately sorting banknotes with adhesive tape and improving the banknote sorting effect. Attached Figure Description

[0012] Figure 1 This is a flowchart illustrating a banknote sorting machine's banknote feeding control method according to an embodiment of this application. Figure 2 This is a schematic diagram of the banknote feeding control system of a banknote sorting machine according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0013] Explanation of reference numerals in the attached drawings: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. Detailed Implementation

[0014] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0015] In the description of the embodiments of this application, words such as "illustrative," "for example," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "illustrative," "for example," or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of words such as "illustrative," "for example," or "for example" is intended to present the relevant concepts in a specific manner.

[0016] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0017] Please see Figure 1 This is a flowchart illustrating a banknote sorting machine's banknote feeding control method according to an embodiment of this application. This method can be implemented using a computer program, a microcontroller, or run on a banknote sorting machine's banknote feeding control system based on the von Neumann architecture. The computer program can be integrated into the application or run as a standalone utility application. The specific steps of the banknote sorting machine's banknote feeding control method are described in detail below.

[0018] S101: During the process of the banknote passing through the first detection position of the banknote passage, thickness distribution data perpendicular to the banknote passage direction is acquired according to a preset sampling period, and thickness gradient sequence is calculated based on the thickness distribution data. The thickness gradient sequence includes a representation of the thickness change rate between adjacent sampling points. The banknote transport path refers to the physical path used to transport banknotes inside the banknote sorting machine. It typically consists of mechanical components such as conveyor rollers, pressure rollers, and guide plates. The banknotes move along a fixed trajectory driven by the conveyor rollers. The preset sampling period is a fixed sampling period set to obtain continuous thickness data, determined based on the banknote transport speed and detection accuracy requirements. Thickness distribution data represents the set of thickness measurements from multiple sampling points along the width of the banknote on a cross-section perpendicular to the banknote transport direction. The thickness gradient sequence is a numerical sequence formed by arranging the thickness change rates between adjacent sampling points in spatial order; this sequence reflects the trend of thickness variation on the banknote surface. The thickness change rate represents the ratio of the thickness difference between two adjacent sampling points to the distance between them, calculated as (h2-h1) / Δx, where h1 and h2 are the thickness values ​​of adjacent sampling points, and Δx is the distance between sampling points.

[0019] Specifically, this step begins when the banknote enters the banknote feeding channel and starts moving towards the first detection position. Data acquisition is triggered when the front end of the banknote reaches the first detection position. Throughout the banknote's continuous passage through the first detection position, the system continuously acquires thickness data at pre-set time intervals to ensure complete thickness information from the front to the back of the banknote. At each sampling moment, the thickness detection sensor array simultaneously measures the thickness values ​​of all sampling points on the cross-section perpendicular to the banknote feeding direction, forming the thickness distribution data for that moment. The system stores these thickness values ​​in the spatial order of the sampling points, then calculates the thickness difference between adjacent sampling points and divides this difference by the fixed spacing between the sampling points to obtain the thickness change rate at each position. These thickness change rates are arranged in order from one edge of the banknote to the other, forming the thickness gradient sequence for that sampling moment. As the banknote continues to move, the system repeats the above acquisition and calculation process at each pre-set time interval, ultimately obtaining multiple thickness gradient sequences of the banknote at different positions along the banknote feeding direction. These sequences can completely describe the thickness distribution characteristics of the banknote surface and its changes along the banknote feeding direction.

[0020] In some embodiments, thickness data acquisition and gradient sequence calculation can be achieved in various ways. A digital Hall sensor or other detection element associated with the banknote detection structure is used to sense the banknote status information transmitted by the banknote detection structure, such as the thickness information of banknotes with adhesive tape, and convert it into an electrical signal. Optionally, a contact-type thickness detection roller can be used in conjunction with an encoder for measurement. First, a row of independently floating detection rollers is set at the first detection position, each roller corresponding to a sampling point on the banknote width. As the banknote passes through, the rollers move up and down with the change in banknote thickness. Then, a rotary encoder connected to the rollers converts the vertical displacement of the rollers into a digital signal. The magnitude of this signal reflects the thickness of the banknote at that point. Next, the control system reads the output values ​​of all encoders at preset time intervals to form thickness distribution data. Finally, a differential operation is performed on these data, that is, the thickness value of the next sampling point is subtracted from the thickness value of the previous sampling point, and then divided by the sampling point spacing to obtain the thickness change rate. Arranging these change rates in sequence forms the thickness gradient sequence. It is understandable that other thickness measurement technologies, such as ultrasonic thickness measurement, capacitive thickness measurement, or optical interferometry, can also be used to obtain thickness distribution data and calculate gradient sequences, which are not limited here.

[0021] S102: When there is a sudden change point in the thickness gradient sequence at any sampling time where the gradient value is greater than the preset gradient threshold, the banknote is determined to be a banknote with adhesive tape, and the position coordinates of the sudden change point detected at each sampling time are recorded. In this context, the sampling time refers to the specific time point at which thickness data is collected at preset time intervals in step S101. Each sampling time corresponds to a specific position of the banknote in the banknote's movement direction. The gradient value represents a single numerical element in the thickness gradient sequence, reflecting the degree of thickness change at a certain location on the banknote surface; a larger value indicates a steeper thickness change. The preset gradient threshold is a critical value used to determine whether the thickness change is abnormal. This threshold is statistically determined based on the thickness change characteristics of normal banknotes and is usually set to several times the maximum thickness gradient value of normal banknotes. Abrupt change points represent special locations in the thickness gradient sequence where the gradient value exceeds the preset gradient threshold. These points typically correspond to the edges of adhesive tape on the banknote surface, as significant thickness jumps occur at the tape edges. Banknotes with adhesive tape refer to banknotes with transparent tape or self-adhesive materials pasted on their surface. These banknotes are usually used for civilian reinforcement to repair damage or tears. The position coordinates represent the spatial location information of the abrupt change point on the banknote surface, usually represented by two-dimensional coordinates. One dimension represents the point's position in the banknote's movement direction, and the other dimension represents the point's position perpendicular to the banknote's movement direction.

[0022] Specifically, this step is executed immediately after the thickness gradient sequence calculation for a single sampling moment is completed in step S101. The system iterates through and checks each element of the thickness gradient sequence obtained at that moment. During the iteration, the system compares each gradient value in the sequence with a pre-set gradient threshold to determine if any gradient value exceeds the threshold. When a gradient value greater than the preset threshold is detected, the system immediately marks that location as a sudden change point, indicating that the banknote thickness has changed abruptly at that location. This change is usually due to a thickness step caused by the edge of the tape. Once at least one sudden change point is detected in the gradient sequence at a certain sampling moment, the system determines that the currently detected banknote is a banknote with tape and sets the corresponding flag. At the same time, the system records the detailed location information of the sudden change point, including the lateral position of the point perpendicular to the banknote movement direction and the corresponding sampling moment. Based on the sampling moment and the banknote movement speed, the longitudinal position of the point in the banknote movement direction can be calculated. As the banknote continues to move, the system repeats the above-mentioned mutation point detection and position recording process at each subsequent sampling moment, and finally obtains the set of mutation point position coordinates detected at all sampling moments from the front to the back of the banknote. These coordinate data will be used for subsequent tape coverage analysis and friction calculation.

[0023] Based on the above embodiments, as an optional implementation method, step S102 can be further optimized in the following way.

[0024] Determine whether the change in the position coordinates of the abrupt change point in the coin-moving direction exceeds a preset change threshold. If the change in the position coordinates of the abrupt change point in the banknote's direction of movement does not exceed the preset change threshold, the distribution range of the tape edge of the banknote with tape in the horizontal and vertical directions of movement is identified, and the average position coordinates of each tape edge are calculated based on the distribution range. The average position coordinates are then determined as the position coordinates of the equivalent abrupt change point.

[0025] The change amount represents the degree of difference in the position coordinates of multiple abrupt change points corresponding to the same tape edge in the coin-carrying direction. This difference reflects the positional fluctuation of the tape edge along the coin-carrying direction. The preset change threshold is a critical value used to determine whether the position of the abrupt change point is stable. When the change amount is less than this threshold, it indicates that the position of the abrupt change point does not change much, and these abrupt change points with similar positions can be merged into an equivalent abrupt change point. The distribution range is used to represent the spatial area extended by the tape edge in the direction perpendicular to the coin-carrying direction. This area is jointly determined by the abrupt change points with similar positions detected at multiple sampling times. The average position coordinate is the representative coordinate value obtained by arithmetically averaging the coordinates of multiple abrupt change points with little positional change. This coordinate serves as the position of the merged equivalent abrupt change point. An equivalent abrupt change point represents replacing multiple actual abrupt change points with a single virtual abrupt change point. The position of this virtual point represents the central tendency of these abrupt change points.

[0026] Specifically, this step is executed after obtaining the coordinates of the mutation points at each sampling time. The control unit performs positional similarity analysis on the mutation point data to identify mergeable mutation point groups. First, the control unit groups all mutation points according to their position perpendicular to the coin-carrying direction, grouping mutation points with similar positions in the perpendicular direction together. Mutation points within the same group correspond to the detection results of the same tape edge at different sampling times. The control unit calculates the difference between the maximum and minimum values ​​of the position coordinates of each group of mutation points in the coin-carrying direction; this difference represents the change in the position coordinates of the mutation points in that group. The control unit compares this change with a preset change threshold. If the change does not exceed the threshold, it is determined that the positional changes of the mutation points within that group are not significant, and these mutation points belong to the same approximately parallel tape edge distributed along the coin-carrying direction, meeting the merging processing conditions. The control unit extracts the position coordinates of all mutation points in that group in the perpendicular direction of the coin-carrying direction, determines the minimum and maximum values ​​of the coordinates, and the interval between these two values ​​represents the distribution range of the tape edge in the perpendicular direction of the coin-carrying direction. The control unit performs coordinate averaging on all abrupt change points within the group where the position changes little. It calculates the arithmetic mean of the coordinate components along the coin movement direction and the arithmetic mean of the coordinate components perpendicular to the coin movement direction. These two averages are combined to form the average position coordinates. The control unit creates an equivalent abrupt change point data object and assigns the calculated average position coordinates to this equivalent abrupt change point. This equivalent abrupt change point replaces multiple previously similar abrupt change points in subsequent calculations. This merging process reduces data redundancy, lowers the computational load, and eliminates the impact of measurement noise on position determination.

[0027] S103: Based on the position coordinates at each sampling time, calculate the proportion of the coverage length of the tape in the direction perpendicular to the coin movement at each sampling time, and calculate the equivalent friction coefficient of the corresponding position segment at each sampling time based on the coverage length proportion, so as to obtain the segmented friction force sequence along the coin movement direction. The location coordinates refer to the two-dimensional spatial location information of the abrupt change point on the banknote surface recorded in step S102. These coordinates include location data in both the banknote's direction of travel and the direction perpendicular to travel. The coverage length ratio represents the ratio of the tape's coverage length perpendicular to travel to the total width of the banknote in that direction at a given sampling moment. This ratio reflects the degree to which the tape laterally covers the banknote. The equivalent friction coefficient refers to the comprehensive frictional characteristic parameter between the banknote and the conveyor roller at a given location, considering the mixed distribution of tape and banknote materials. This coefficient is a weighted average of the tape's friction coefficient and the banknote's friction coefficient, proportional to the coverage area. A location segment represents a discrete interval of the banknote's travel direction. Each location segment corresponds to a detection position at a sampling moment, and the length of this segment is equal to the distance the banknote moves between two adjacent samplings. The segmented friction force sequence refers to the numerical sequence formed by dividing the banknote's travel direction into multiple location segments and arranging the friction force values ​​of each segment in the order of travel direction. This sequence describes the distribution pattern of friction force along the travel direction.

[0028] Specifically, this step begins after step S102 completes the detection and location recording of abrupt change points at all sampling times. The system first analyzes the distribution of the tape based on the coordinates of the abrupt change points detected at each sampling time. For each sampling time, the system extracts the lateral coordinates of all abrupt change points perpendicular to the banknote's movement direction. By analyzing these coordinates, the system determines the position of the tape edge and calculates the lateral length of the tape covering the banknote at that sampling time. This coverage length is divided by the total width of the banknote to obtain the tape coverage length percentage at that sampling time. After obtaining the coverage length percentage, the system queries a pre-stored material friction coefficient lookup table to obtain the first friction coefficient between the tape material and the conveyor roller material, and the second friction coefficient between the banknote material and the conveyor roller material. Then, the equivalent friction coefficient is calculated using a weighted average method. Specifically, the first friction coefficient is multiplied by the tape coverage length percentage, and then the second friction coefficient is multiplied by the non-tape coverage length percentage. The sum of the two is the equivalent friction coefficient for that location segment. Because the adhesive tape material is typically smoother than the banknote material, its first coefficient of friction is lower than its second coefficient of friction. Therefore, the equivalent coefficient of friction for sections with adhesive tape will be lower than that for sections with normal banknote material. Based on the calculated equivalent coefficient of friction and the preset pressure roller pressure, the friction force is calculated using the formula F=μN, where μ is the equivalent coefficient of friction and N is the pressure roller pressure. The segmented friction force at each position is then arranged in the order of the banknote's movement direction to form a complete sequence of segmented friction forces. This sequence fully describes the variation of friction force in the banknote with adhesive tape throughout its movement.

[0029] In some embodiments, the calculation of the coverage length ratio and the determination of the equivalent friction coefficient can be achieved in various ways. Optionally, the abrupt change point pairing method can be used to calculate the coverage length ratio. First, the abrupt change points detected at each sampling time are sorted according to their lateral coordinate values. Then, adjacent abrupt change points are paired up, and the area between each pair of abrupt change points is considered as the tape coverage area. Next, the lateral distance between each pair of abrupt change points is calculated, and the distances of all tape coverage areas are summed to obtain the total coverage length. Finally, the total coverage length is divided by the width of the banknote to obtain the coverage length ratio. Subsequently, the equivalent friction coefficient is calculated based on this ratio and the material friction coefficient. Specifically, it is the first friction coefficient multiplied by the coverage length ratio plus the second friction coefficient multiplied by the value of the coverage length ratio minus one. Then, the equivalent friction coefficient is multiplied by the pressure of the pressure roller to obtain the segmented friction force of that position segment.

[0030] S104: Calculate the instantaneous velocity change curve of the banknote with adhesive tape as it moves from the first detection position to the preset second detection position based on the segmented friction force sequence, and calculate the cumulative displacement of the banknote with adhesive tape by time integration based on the instantaneous velocity change curve; The instantaneous velocity change curve represents the functional relationship between the velocity of the banknote with adhesive tape and time as it moves from the first detection position to the second detection position. The shape of this curve is determined by the magnitude of friction at each position segment; segments with lower friction will result in a decrease in velocity. The second detection position refers to the point in the banknote conveying channel used to trigger the sorting action. This position is usually located at a fixed distance upstream of the sorting mechanism to ensure that the sorting mechanism has sufficient time to complete the action preparation when the banknote arrives at this position. The time integral is used to represent the cumulative calculation process of instantaneous velocity over time. The displacement can be obtained by integrating the velocity-time curve. The integration method is to divide the velocity curve into multiple time micro-elements, multiply the velocity of each micro-element by the time increment, and then sum them up. The cumulative displacement refers to the total distance that the banknote with adhesive tape has moved from the first detection position after a certain period of time. This distance is the result of integrating the instantaneous velocity of the banknote with time.

[0031] Specifically, this step begins after obtaining the complete segmented friction force sequence in step S103. The system first analyzes the driving force and resistance experienced by the banknote at each position segment based on the segmented friction force sequence. Since the driving force provided by the conveyor roller is relatively constant, while the friction force varies with the coverage of the conveyor belt, a lower friction force at a certain position segment indicates that the conveyor belt coverage is greater, resulting in insufficient frictional driving force between the banknote and the conveyor roller, which will cause the banknote's running speed to decrease at that position segment. The system establishes the equation of motion based on Newton's second law, calculates the acceleration using the relationship between friction force and the banknote's mass, and then calculates the instantaneous velocity at each moment through the velocity-acceleration relationship. In the specific calculation process, the system divides the movement of the banknote from the first detection position to the second detection position into multiple time steps. Within each time step, the acceleration at that moment is calculated based on the segmented friction force corresponding to the current position. The instantaneous velocity at the current moment is obtained by adding the velocity at the previous moment to the product of the acceleration and the time step. The instantaneous velocities at each moment are connected in chronological order to form a complete instantaneous velocity change curve. After obtaining the velocity change curve, the system calculates the cumulative displacement by integrating the curve over time. The integration method involves dividing the time axis into multiple small time intervals. Within each time interval, the instantaneous velocity at that moment is multiplied by the length of the time interval to obtain the displacement increment for that interval. Then, the displacement increments of all time intervals are summed to obtain the cumulative displacement from the first detection position to the current moment. This cumulative displacement increases continuously over time, and when it reaches the standard distance between the first and second detection positions, it indicates that the banknote has reached the second detection position.

[0032] S105: Calculate the target time when the cumulative displacement is equal to the standard distance between the first detection position and the second detection position, and determine the sorting trigger time based on the time difference between the target time and the standard time. The standard time is the time when the banknote without tape arrives at the second detection position at a preset banknote speed. The standard distance represents the fixed physical interval between the first and second detection positions along the banknote movement direction. This distance is a fixed value determined during the mechanical structure design of the sorting machine and does not change with the type of banknote. The target time refers to the time point when the cumulative displacement of the banknote with tape is exactly equal to the standard distance; this time represents the actual time it takes for the banknote with tape to reach the second detection position. The standard time represents the theoretical time it would take for a normal banknote without tape to reach the second detection position while moving at a preset, uniform speed. This time can be directly calculated by dividing the standard distance by the preset speed. The time difference refers to the time deviation between the target time and the standard time. This deviation reflects the impact of the speed change caused by friction on the arrival time of the banknote with tape. A positive time difference indicates that the banknote with tape arrives later, and a negative time difference indicates that it arrives earlier. The sorting trigger time indicates the precise time point at which the sorting instruction is sent to the sorting execution mechanism. This time needs to be adjusted according to the time difference to ensure that the sorting mechanism can accurately execute the sorting action when the banknote arrives.

[0033] Specifically, this step begins after the cumulative displacement calculation is completed in step S104. The system first reads the standard distance value between the first and second detection positions from the configuration parameters. Then, the system searches through the cumulative displacement data calculated in step S104 to determine the time point corresponding to when the cumulative displacement first reaches or exceeds the standard distance. This time point is the target time, representing the moment when the banknote with tape actually arrives at the second detection position. Simultaneously, the system calculates the standard time by dividing the standard distance by the preset banknote speed. This preset banknote speed is the normal banknote running speed set during the sorting machine's design. The standard time represents the theoretical time it should take for the banknote to reach the second detection position if it were not affected by the tape and running at a constant speed. After obtaining the target time and the standard time, the system calculates the time difference between them, which is equal to the target time minus the standard time. Since the friction of banknotes with tape is usually less than that of normal banknotes, their running speed will be slower. Therefore, the target time is usually greater than the standard time, and the time difference is a positive value. The system determines the sorting trigger time based on the time difference. The calculation of the sorting trigger time needs to consider the response delay of the sorting execution mechanism. Specifically, the calculation method is to add the time difference to the standard sorting trigger time and then subtract the inherent delay time of the sorting mechanism to obtain the final sorting trigger time. The standard sorting trigger time refers to the moment when the system sends the sorting instruction a fixed amount of advance time before the standard time for normal banknotes. This advance time is equal to the time required for the sorting mechanism to complete its preparation from receiving the instruction. Through this time compensation mechanism, the system can ensure that regardless of whether the banknote has tape on it or how well the tape covers it, the sorting instruction can be accurately triggered when the banknote reaches the sorting position, thus achieving precise sorting.

[0034] In some embodiments, the determination of the target time and the calculation of the clearing trigger time can be achieved in various ways. Optionally, a linear interpolation method can be used to accurately determine the target time. First, find the first displacement value greater than or equal to the standard distance in the cumulative displacement sequence and record the time point corresponding to this displacement value as t2, and the time point corresponding to the previous displacement value less than the standard distance as t1. Then, perform linear interpolation based on the displacement values ​​at times t1 and t2 and the standard distance. The calculation formula is: the target time equals t1 plus the difference between the standard distance and the displacement value at time t1, divided by the difference between the displacement value at time t2 and the displacement value at time t1, and then multiplied by the time interval between t2 and t1. Next, calculate the standard time as the standard distance divided by the preset coin-moving speed. Then, calculate the time difference as the target time minus the standard time. Finally, based on the pre-stored clearing mechanism delay time, calculate the clearing trigger time as the standard clearing trigger time plus the time difference minus the mechanism response time. It is understandable that other time determination methods, such as Kalman filter prediction, fuzzy logic control, or adaptive PID adjustment, can also be used to achieve precise positioning of the target time and optimized calculation of the clearing trigger time, which is not limited here.

[0035] S106: At the time of sorting trigger, a sorting instruction is sent to the sorting execution agency to sort the banknotes with adhesive tape to the damaged banknote channel.

[0036] The sorting execution mechanism refers to the mechanical device in the sorting machine responsible for guiding banknotes from the main banknote passage to different dispensing channels. This mechanism typically includes actuators such as deflectors, pneumatic push rods, or solenoid valves, and can act quickly upon receiving control commands. The sorting command refers to the electrical control signal sent by the control system to the sorting execution mechanism. This signal carries parameters such as the type, direction, and timing of the sorting action, triggering the execution mechanism to complete the corresponding physical action. The damaged banknote channel refers to the physical channel in the sorting machine specifically used to receive and store damaged banknotes. This channel is set up alongside other dispensing channels such as the normal banknote channel and the suspicious banknote channel. Banknotes with adhesive tape are guided to this channel as a type of damaged banknote.

[0037] Specifically, after the sorting trigger time calculation is completed in step S105, this step enters a waiting execution state. The system's internal real-time clock continues to run and is compared with the sorting trigger time. When the current time of the system clock reaches the sorting trigger time, the control system immediately sends a sorting command to the sorting execution mechanism. This command is transmitted to the control circuit of the execution mechanism in the form of a digital signal or analog signal. The sorting command contains specific parameters of the sorting action, mainly including the target channel number (for banknotes with adhesive tape, this number points to the damaged banknote channel), and action timing parameters, determining the duration and reset time of the execution mechanism's action. After receiving the command, the sorting execution mechanism starts the corresponding drive device according to the command parameters. If it is a baffle-type sorting mechanism, it controls the motor or electromagnet to drive the baffle to rotate to a predetermined angle, deflecting the banknote's movement path from the main channel to the damaged banknote channel. If it is a pneumatic push rod type mechanism, it activates the air valve to supply air to the cylinder, pushing the push rod to extend and push the banknote to the side damaged banknote channel. During the sorting process, banknotes with adhesive tape are detached from the main banknote transport channel by the executing mechanism and enter the guide track of the damaged banknote channel. Assisted by gravity or airflow, they continue to move forward, eventually reaching the damaged banknote collection box to complete the sorting process. After guiding the banknotes, the sorting executing mechanism needs to quickly reset to prepare for the sorting of the next banknote. The reset process is automatically controlled by the control system according to preset timing parameters to ensure that it does not affect the normal operation of subsequent banknotes. Throughout the sorting process, the system also records relevant information about the sorting event, including banknote serial number, sorting time, and adhesive tape characteristic parameters, for subsequent statistical analysis and quality traceability.

[0038] Based on the above embodiments, as an optional implementation method, the method of calculating the thickness gradient sequence based on the thickness distribution data in S101 can be specifically implemented through the following steps S201-S202.

[0039] S201: By using a thickness detection sensor set at the first detection position in the banknote passage, the thickness values ​​of the banknote at multiple sampling points are collected to obtain thickness distribution data; A thickness sensor is a detection device installed in the banknote feeding channel to measure the thickness of banknotes. This sensor acquires the thickness data of the banknote in real time as it passes through and converts it into an electrical signal output. Sampling points represent discrete locations on the banknote surface designated for thickness measurement. These locations are typically evenly distributed along a direction perpendicular to the banknote's movement, forming a transverse measurement array. The thickness value refers to the banknote thickness measurement data obtained by the thickness sensor at a specific sampling point; this value reflects the actual thickness of the banknote at that location.

[0040] Specifically, the thickness detection sensor array synchronously measures the surface of the banknote. Each sensor unit in the array corresponds to a preset sampling point position. When the banknote passes by, each sensor unit simultaneously starts its measurement program to acquire the thickness value of its corresponding sampling point. The sensors use non-contact or contact measurement principles to convert the measured physical quantity into a digital signal, which is then transmitted to the control unit through a data acquisition interface. The control unit receives the measurement data from all sensor units, arranges and stores it according to the spatial order of the sampling points, forming the thickness distribution data at that moment. The thickness distribution data contains the thickness information of all sampling points on the banknote's cross-section and reflects the thickness distribution characteristics of the banknote surface in the direction perpendicular to the banknote's movement.

[0041] S202: Divide the thickness difference between adjacent sampling points by the position interval according to the sampling order to obtain the thickness change rate at each sampling point position, and arrange the thickness change rates according to the sampling order to obtain the thickness gradient sequence.

[0042] The thickness difference represents the numerical difference between the thickness values ​​measured at two adjacent sampling points, reflecting the amount of thickness variation on the banknote surface between adjacent locations. The positional interval refers to the spatial distance between two adjacent sampling points, which is determined by the physical layout of the sensor array and is fixed during sensor installation. The sampling order indicates the spatial arrangement of the sampling points from one edge of the banknote to the other, determining the processing order of the thickness data and the direction of gradient calculation.

[0043] Specifically, the calculation process starts from the second sampling point. The thickness value of the previous sampling point is subtracted from the thickness value of the current sampling point to obtain the thickness difference between the two sampling points. The thickness difference is then divided by the positional interval between the sampling points to obtain the thickness change rate at that position. The control unit sequentially processes all adjacent sampling point pairs in the thickness distribution data, calculating the thickness change rate at all sampling point positions except the first sampling point. To maintain the integrity of the data structure, the thickness change rate at the first sampling point is set to zero or calculated using a one-sided difference method. All the calculated thickness change rate values ​​are organized into a one-dimensional array according to the spatial arrangement order of the sampling points. This array is the thickness gradient sequence, where each element corresponds to the thickness change rate at a sampling point position, and the sequence order is consistent with the spatial position order of the sampling points.

[0044] Based on the above embodiments, as an optional implementation method, in S103, the equivalent friction coefficient of the corresponding position segment at each sampling time is calculated according to the coverage length ratio to obtain the segmented friction force sequence along the coin-walking direction. This can be specifically achieved through the following steps S301-S303.

[0045] S301: Query the pre-stored material friction coefficient comparison table to obtain the first friction coefficient between the tape material and the conveyor roller material and the second friction coefficient between the banknote material and the conveyor roller material, wherein the first friction coefficient is less than the second friction coefficient; The material friction coefficient reference table refers to a data table pre-stored in the control unit's memory. This table records the friction coefficient values ​​between different material combinations for reference during the sorting process. The first friction coefficient represents the frictional characteristic parameter when the surface of the adhesive tape material contacts the surface of the conveyor roller material. Since the adhesive tape material is usually relatively smooth, this coefficient value is small. The second friction coefficient represents the frictional characteristic parameter when the surface of the banknote material contacts the surface of the conveyor roller material. Since the surface roughness of the banknote material is relatively high, this coefficient value is greater than the first friction coefficient.

[0046] Specifically, the query operation uses the tape material type and conveyor roller material type as index keywords to locate the corresponding friction coefficient record in the lookup table, reads the first friction coefficient value, and stores it in a temporary variable. The control unit continues to use the banknote material type and conveyor roller material type as indexes to query the friction coefficient between the banknote and the conveyor roller in the same lookup table to obtain the second friction coefficient value. The control unit compares and verifies the two friction coefficients, confirming that the first friction coefficient is less than the second friction coefficient. This relationship is consistent with the physical characteristic that tape is smoother than banknote material. After verification, the two friction coefficient values ​​are saved for subsequent calculations. In practical applications, the lookup table establishes a multi-level index structure based on material type. Tape material types include transparent tape, self-adhesive tape, and sealing tape, etc., while conveyor roller material types include rubber, polyurethane, and silicone, etc. Different material combinations correspond to different friction coefficient values. The control unit uses the material identification module to determine the material type of the current banknote and equipment before performing a precise matching query.

[0047] S302: Calculate the sum of the product of the first friction coefficient and the proportion of the tape-covered length and the product of the second friction coefficient and the proportion of the uncovered length to obtain the equivalent friction coefficient of the corresponding position segment at each sampling time. The percentage of length not covered by tape represents the ratio of the length of the banknote surface not covered by tape to the total width of the banknote at a certain sampling time. This ratio is equal to the result minus the percentage of length covered by tape. The sum of products refers to the value obtained by adding the results of two product operations. This value is obtained by weighted averaging to take into account the frictional characteristics of different materials.

[0048] Specifically, the calculation process first obtains the percentage of tape coverage length at the sampling moment, a value already determined in the abrupt change detection step. The control unit calculates one and subtracts the tape coverage length percentage to obtain the percentage of no tape coverage length. The control unit multiplies the first friction coefficient by the tape coverage length percentage to obtain the contribution of the tape-covered area to the friction coefficient, and multiplies the second friction coefficient by the percentage of no tape coverage length to obtain the contribution of the banknote material area to the friction coefficient. The control unit adds the two contribution values ​​to obtain the equivalent friction coefficient for that location segment, which reflects the comprehensive friction characteristics when tape and banknote materials are mixed. The control unit repeats the above calculation process for all sampling moments to obtain the equivalent friction coefficient values ​​for each location segment. In specific implementation, when the tape coverage length percentage of a certain location segment is zero, the equivalent friction coefficient equals the second friction coefficient; when the coverage length percentage is one, the equivalent friction coefficient equals the first friction coefficient; when the coverage length percentage is between zero and one, the equivalent friction coefficient is proportionally distributed between the first and second friction coefficients. This weighted average calculation method can accurately reflect the actual friction characteristics of the mixed material surface.

[0049] S303: Based on the equivalent friction coefficient of the corresponding position segment at each sampling time and the preset pressure of the pressure roller, calculate the segmented friction force on each position segment, and arrange the friction driving force into a segmented friction force sequence according to the coin-moving direction.

[0050] The pressure roller pressure refers to the vertical pressing force applied by the pressure roller to the surface of the banknote. This pressure generates sufficient positive pressure between the banknote and the conveyor roller to achieve frictional transmission. The frictional driving force refers to the driving force generated between the banknote and the conveyor roller due to friction. The magnitude of this force is equal to the product of the equivalent coefficient of friction and the pressure roller pressure.

[0051] Specifically, the calculation process reads the preset pressure roller pressure value from the configuration parameters, which is determined according to the mechanical design of the sorting machine. The control unit takes the equivalent friction coefficient of the first position segment, multiplies this coefficient by the pressure roller pressure, and obtains the segmented friction force value of that position segment. The control unit processes subsequent position segments sequentially, repeating the multiplication operation for each position segment to calculate the corresponding segmented friction force. After the calculation is completed, the control unit stores the segmented friction force values ​​in a one-dimensional array according to the spatial order of the position segments in the banknote's movement direction from front to back. This array is the segmented friction force sequence. The segmented friction force sequence completely records the friction force distribution of each position segment of the banknote from the front to the back, providing a mechanical data basis for subsequent speed change analysis. In practical applications, the pressure setting of the pressure rollers needs to balance the transmission effect and the damage to the banknotes. Too little pressure will cause slippage, and too much pressure will cause banknote wear. The typical pressure roller pressure is set in the range of several Newtons to tens of Newtons applied to each pressure roller. When calculating the segmented friction force, the control unit uses this preset pressure value to multiply with the equivalent friction coefficient of each position segment. Since the equivalent friction coefficient of the section with the tape is smaller, the segmented friction force of this section is reduced accordingly, resulting in a decrease in the banknote running speed of this section.

[0052] Based on the above embodiments, as an optional implementation method, the specific method of calculating the instantaneous speed change curve of the banknote with adhesive tape moving from the first detection position to the preset second detection position according to the segmented friction force sequence in step S104 specifically includes steps S401-S402.

[0053] S401: Compare the segmented friction force sequence with the standard friction force to determine the friction force level of each segmented friction force. The standard friction force is the standard friction force of the same type of banknotes under the same banknote circulation conditions. The standard friction force represents the reference friction force generated by normal banknotes of the same denomination and version under the same pressure roller and conveyor roller material conditions. This value is obtained through statistical measurements of the friction force of a large number of normal banknotes. The friction force level refers to a discrete classification based on the degree of deviation between the segmented friction force and the standard friction force; different levels correspond to different speed correction parameters. Banknote transport conditions are used to represent various physical parameters affecting banknote transport, including pressure roller pressure, conveyor roller speed, and environmental and equipment parameters such as temperature and humidity in the banknote transport channel.

[0054] Specifically, banknote type information includes features such as denomination, version, and condition (new or worn). These features are obtained by the image recognition module when the banknotes enter the sorting machine. The control unit simultaneously reads the current banknote handling parameters, including the pressure roller setting, the material type of the conveyor roller, and the current ambient temperature and humidity, ensuring that the standard friction force matches the actual operating conditions. The control unit takes the first segment friction force value in the segmented friction force sequence and compares it with the standard friction force, calculating the difference or ratio. According to a preset friction force level classification rule, the control unit maps this difference or ratio to the corresponding friction force level. The friction force level classification uses a threshold range method: when the segmented friction force is close to the standard friction force, it is classified as normal; when the segmented friction force is significantly lower than the standard friction force, it is classified as low friction; and when the segmented friction force is higher than the standard friction, it is classified as high friction. The control unit processes all values ​​in the segmented friction force sequence sequentially to determine the friction force level for each position segment.

[0055] S402: Based on the friction level and the standard coin speed corresponding to the standard friction, calculate the instantaneous speed at each position segment at the corresponding moment, and arrange the instantaneous speeds in chronological order to form an instantaneous speed change curve from the first detection position to the preset second detection position.

[0056] The standard banknote speed represents the designed speed at which a normal banknote moves along the banknote path under standard friction. This speed is determined by the rotational speed of the sorting machine's conveyor rollers and the mechanical transmission ratio. Instantaneous speed refers to the actual speed of the banknote at a specific moment, which deviates from the standard speed due to the friction level at the current position. The time sequence indicates the arrangement of sampling moments from early to late according to the banknote's movement process; this sequence determines the position of the instantaneous speed data points on the speed curve.

[0057] Specifically, the speed correction coefficient reflects the degree of influence on the banknote speed when the friction deviates from the standard value. The correction coefficient is one for the normal level, less than one for the low friction level, and greater than one for the high friction level. The control unit takes the friction level of the first position segment, looks up the corresponding speed correction coefficient based on that level, multiplies the standard banknote speed by the coefficient, and obtains the instantaneous speed at that position segment. Since the friction level of the section with adhesive tape is usually low, its speed correction coefficient is less than one, and the calculated instantaneous speed is lower than the standard banknote speed. The control unit processes all position segments sequentially, calculating the instantaneous speed value at each moment. After the calculation is completed, the control unit arranges the instantaneous speed values ​​in chronological order according to the sampling time corresponding to each position segment, forming a complete speed sequence from the first detection position to the second detection position. The control unit unfolds this speed sequence on the time axis, with each time point corresponding to an instantaneous speed value. Connecting all data points forms an instantaneous speed change curve, which visually reflects the change in the banknote speed with the distribution of adhesive tape during movement.

[0058] Based on the above embodiments, as an optional implementation method, the method of determining the number of friction force levels before S401 can be specifically implemented through the following steps.

[0059] Based on the proportion of the tape's coverage length perpendicular to the banknote's movement at each sampling time, calculate the proportion of the tape's surface area on the banknote with tape. The number of friction levels is determined based on the surface area ratio and the preset area ratio resolution. The area ratio resolution is the minimum change in area ratio that can cause a recognizable speed change.

[0060] The surface area ratio represents the ratio of the total area of ​​the banknote covered by the tape to the total surface area of ​​the banknote. This ratio is calculated by integrating local coverage data from various sampling times. The area ratio resolution refers to the minimum change in tape coverage area that can cause a detectable change in the banknote's running speed. This parameter is determined based on the speed detection accuracy and control response characteristics of the sorting machine. The number of friction force levels represents the total number of levels that discretize the continuous range of friction force changes. Determining the number of levels requires a balance between control accuracy and computational complexity.

[0061] Specifically, this step is completed before S401 execution, providing a quantitative basis for friction level classification. The control unit first performs spatial integration calculation on the proportion of tape coverage length at each sampling time. It multiplies the coverage length proportion at each sampling time by the length of the corresponding segment to obtain the tape coverage area for that segment. Then, it sums the tape coverage areas of all segments to obtain the total tape coverage area on the banknote surface. The control unit calculates the total surface area of ​​the banknote, which is equal to the product of the banknote's length and width. It divides the total tape coverage area by the total banknote surface area to obtain the surface area proportion value. The control unit reads the preset area proportion resolution value from the configuration parameters. This resolution, determined experimentally, reflects the change in tape coverage area corresponding to the smallest speed change that the sorting machine can distinguish. The control unit divides the surface area proportion by the area proportion resolution, obtains the quotient, and rounds it up. This integer value is the number of friction levels. When the tape coverage area is large, the surface area proportion is high, resulting in a larger number of levels after dividing by the resolution. More detailed classification is needed to accurately reflect friction changes. When the tape coverage area is small, the number of levels decreases accordingly. After determining the number of levels, the control unit evenly divides the friction force into intervals between the standard friction force and the minimum friction force, with each interval corresponding to a friction force level, thus establishing a grading standard for subsequent friction force level determination.

[0062] Based on the above embodiments, as an optional implementation method, the method of calculating the instantaneous speed at each position segment according to the friction level and the standard coin speed corresponding to the standard friction force in S402 can be specifically implemented through the following steps S4021-S4022.

[0063] S4021: Identify the currency attribute information of banknotes with adhesive tape, and look up the correspondence table between the friction level and speed correction coefficient of banknotes with adhesive tape based on the currency attribute information; The currency attribute information represents the set of classification characteristic parameters for banknotes, including denomination, year of issue, version series, material type, and condition (new or used). These characteristics determine the physical properties and friction behavior of the banknotes. The correspondence table is a data table stored in the control unit that records the mapping relationship between friction level and speed correction coefficient under specific currency attributes. Different currency attributes have different correspondence tables. The speed correction coefficient represents the ratio of the actual speed of the banknote to the standard banknote speed under a specific friction level. This coefficient reflects the degree to which changes in friction affect the banknote's running speed.

[0064] Specifically, after determining the friction level at each location segment, the control unit invokes the image recognition module to extract features and classify the banknote. The image recognition module analyzes information such as the banknote's pattern, color, size, and security features to determine its denomination and version. It also determines the banknote's condition by detecting wear, creases, and stain distribution. The control unit combines the identified denomination, version, and condition parameters to form complete currency attribute information, which is used as an index key for database queries. The control unit accesses a pre-stored speed correction parameter database, which stores multiple sets of correspondence tables, each for specific currency attribute information. Using the current banknote's currency attribute information as the search condition, the control unit locates the matching correspondence table in the database. The correspondence table uses a two-dimensional table structure, with row indices representing friction levels and column data representing corresponding speed correction coefficients. The table records the speed correction coefficient values ​​corresponding to each friction level under that currency attribute.

[0065] S4022: Determine the speed correction coefficient corresponding to the friction force of each position segment according to the correspondence table, and multiply the standard coin speed by the corresponding speed correction coefficient to obtain the instantaneous speed of each position segment at the corresponding time.

[0066] Specifically, the system retrieves the friction level value of the first position segment, uses this level as an index to look up the matching speed correction coefficient in the corresponding relationship table, and the table returns the speed correction coefficient value corresponding to that friction level and stores it in a temporary variable. The control unit reads the standard banknote conveying speed value from the configuration parameters. This speed is the banknote conveying speed designed for the sorting machine under standard operating conditions. The control unit multiplies the standard banknote conveying speed with the retrieved speed correction coefficient. Since a speed correction coefficient less than one indicates a low friction level causing a speed decrease, equal to one indicates a normal friction level maintaining the standard speed, and greater than one indicates a high friction level causing a speed increase, the result of the multiplication operation is the actual instantaneous speed of the banknote at the corresponding moment for that position segment. The control unit processes all position segments in the segmented friction sequence sequentially, repeating the process of querying the speed correction coefficient and calculating the instantaneous speed for each position segment to obtain the instantaneous speed value at the corresponding moment for each position segment. During the calculation, the section with the tape has a lower friction level, resulting in a speed correction coefficient of less than one, and the calculated instantaneous speed is lower than the standard coin-carrying speed. Conversely, the section without the tape has a friction level close to normal, a speed correction coefficient close to one, and an instantaneous speed close to the standard coin-carrying speed. The control unit stores all calculated instantaneous speed values ​​in the order of their corresponding sampling times, forming a complete instantaneous speed data sequence.

[0067] The following are system embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the system embodiments of this application, please refer to the method embodiments of the application.

[0068] Please see Figure 2 This illustration shows a schematic diagram of the banknote feeding control system of a banknote sorting machine according to an exemplary embodiment of this application. The system can be implemented as all or part of a system through software, hardware, or a combination of both. The banknote feeding control system of the banknote sorting machine includes: The sampling module is used to acquire thickness distribution data perpendicular to the banknote movement direction at a preset sampling period during the process of the banknote passing through the first detection position of the banknote movement channel, and to calculate the thickness gradient sequence based on the thickness distribution data. The thickness gradient sequence includes a representation of the thickness change rate between adjacent sampling points. The identification module is used to determine that the banknote is a banknote with adhesive tape when there is a sudden change point in the thickness gradient sequence at any sampling time where the gradient value is greater than a preset gradient threshold, and to record the position coordinates of the sudden change point detected at each sampling time. The first calculation module is used to calculate the coverage length ratio of the tape in the direction perpendicular to the coin movement at each sampling time based on the position coordinates at each sampling time, and to calculate the equivalent friction coefficient of the corresponding position segment at each sampling time based on the coverage length ratio, so as to obtain the segmented friction force sequence along the coin movement direction. The second calculation module is used to calculate the instantaneous velocity change curve of the banknote with adhesive tape as it moves from the first detection position to the preset second detection position based on the segmented friction force sequence, and to calculate the cumulative displacement of the banknote with adhesive tape by time integration based on the instantaneous velocity change curve. The sorting time determination module is used to calculate the target time when the cumulative displacement is equal to the standard distance between the first detection position and the second detection position, and to determine the sorting trigger time based on the time difference between the target time and the standard time. The standard time is the time when the banknote without tape arrives at the second detection position at a preset banknote speed. The sorting execution module is used to send sorting instructions to the sorting execution agency at the time of sorting trigger, and sort the banknotes with adhesive tape to the damaged banknote channel.

[0069] This application also provides a computer storage medium that can store multiple instructions. The instructions are adapted to be loaded by a processor and executed as described above for the banknote sorting machine's banknote feeding control method. For details of the execution process, please refer to the specific description of the embodiments, which will not be repeated here.

[0070] Please see Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 300 may include: at least one processor 301, at least one network interface 304, user interface 303, memory 305, and at least one communication bus 302.

[0071] The communication bus 302 is used to enable communication between these components.

[0072] The user interface 303 may include a display screen and a camera.

[0073] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0074] The processor 301 may include one or more processing cores. The processor 301 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the processor 301 may be implemented using at least one hardware form of digital signal processing, field-programmable gate array, or programmable logic array. The processor 301 may integrate one or more of the following: a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 301 and may be implemented as a separate chip.

[0075] The memory 305 may include random access memory (RAM) or read-only memory (ROM). Optionally, the memory 305 may include a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described above, etc.; the data storage area may store data involved in the various method embodiments described above, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. Figure 3 As shown, the memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a banknote sorting machine's banknote movement control method.

[0076] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 301 can be used to call an application program stored in the memory 305 for a banknote sorting machine's banknote movement control method. When executed by one or more processors, the electronic device executes one or more methods as described in the above embodiments.

[0077] An electronic device readable storage medium stores instructions that, when executed by one or more processors, cause the electronic device to perform one or more methods as described in the above embodiments.

[0078] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0079] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some service interfaces; indirect couplings or communication connections between apparatuses or units may be electrical or other forms.

[0081] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0082] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0083] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0084] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and practical application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure.

Claims

1. A method for controlling the movement of banknotes in a banknote sorting machine, characterized in that, The method includes: During the process of the banknote passing through the first detection position of the banknote passage, thickness distribution data perpendicular to the banknote passage direction is acquired according to a preset sampling period, and a thickness gradient sequence is calculated based on the thickness distribution data. The thickness gradient sequence includes a representation of the thickness change rate between adjacent sampling points. When there is a sudden change point in the thickness gradient sequence at any sampling time where the gradient value is greater than a preset gradient threshold, the banknote is determined to be a banknote with adhesive tape, and the position coordinates of the sudden change point detected at each sampling time are recorded. Based on the position coordinates of each sampling time, the proportion of the coverage length of the tape in the direction perpendicular to the coin movement at each sampling time is calculated, and the equivalent friction coefficient of the corresponding position segment at each sampling time is calculated based on the coverage length proportion, so as to obtain the segmented friction force sequence along the coin movement direction. The instantaneous velocity change curve of the banknote with adhesive tape as it moves from the first detection position to the preset second detection position is calculated based on the segmented friction force sequence, and the cumulative displacement of the banknote with adhesive tape is calculated by time integration based on the instantaneous velocity change curve. Calculate the target time when the cumulative displacement is equal to the standard distance between the first detection position and the second detection position, and determine the sorting trigger time based on the time difference between the target time and the standard time. The standard time is the time when the banknote without tape arrives at the second detection position at a preset banknote speed. At the time of the sorting trigger, a sorting instruction is sent to the sorting execution agency to sort the banknotes with adhesive tape into the damaged banknote channel.

2. The method according to claim 1, characterized in that, The step of calculating the thickness gradient sequence based on the thickness distribution data includes: By using a thickness detection sensor set at the first detection position of the banknote passage, the thickness values ​​of the banknote at multiple sampling points are collected to obtain thickness distribution data. Divide the thickness difference between adjacent sampling points by the position interval according to the sampling order to obtain the thickness change rate at each sampling point position, and arrange the thickness change rates according to the sampling order to obtain a thickness gradient sequence.

3. The method according to claim 1, characterized in that, The step of calculating the equivalent friction coefficient of the corresponding position segment at each sampling time based on the coverage length ratio, to obtain a segmented friction force sequence along the coin-walking direction, includes: Query the pre-stored material friction coefficient comparison table to obtain the first friction coefficient between the tape material and the conveyor roller material and the second friction coefficient between the banknote material and the conveyor roller material, wherein the first friction coefficient is less than the second friction coefficient; The equivalent friction coefficient of the position segment corresponding to each sampling time is obtained by summing the product of the first friction coefficient and the proportion of the tape-covered length with the product of the second friction coefficient and the proportion of the uncovered length. Based on the equivalent friction coefficient of the corresponding position segment at each sampling time and the preset pressure of the pressure roller, the segmented friction force on each position segment is calculated, and the friction driving force is arranged into a segmented friction force sequence according to the coin-moving direction.

4. The method according to claim 1, characterized in that, The step of calculating the instantaneous velocity change curve of the banknote with adhesive tape as it moves from the first detection position to the preset second detection position based on the segmented friction force sequence includes: The segmented friction force sequence is compared with the standard friction force to determine the friction force level of each segmented friction force corresponding to each position segment. The standard friction force is the standard friction force of the same type of banknote under the same banknote circulation conditions. Based on the friction level and the standard coin speed corresponding to the standard friction, the instantaneous speed at each position segment is calculated, and the instantaneous speeds are arranged in chronological order to form an instantaneous speed change curve from the first detection position to the preset second detection position.

5. The method according to claim 4, characterized in that, Before comparing the segmented friction force sequence with the standard friction force to determine the friction force level corresponding to each position segment, the method further includes: Based on the percentage of the coverage length of the tape in the direction perpendicular to the banknote's movement at each sampling time, calculate the percentage of the surface area of ​​the banknote with tape. The number of friction levels is determined based on the surface area ratio and the preset area ratio resolution, where the area ratio resolution is the minimum change in area ratio that can cause a recognizable speed change.

6. The method according to claim 4, characterized in that, The step of calculating the instantaneous velocity at each position segment based on the friction level and the standard coin-walking speed corresponding to the standard friction force includes: Identify the currency attribute information of the banknote with adhesive tape, and look up the correspondence table between the friction level and speed correction coefficient of the banknote with adhesive tape based on the currency attribute information; The speed correction coefficient corresponding to the friction force of each position segment is determined according to the correspondence table, and the standard coin walking speed is multiplied by the corresponding speed correction coefficient to obtain the instantaneous speed of each position segment at the corresponding moment.

7. The method according to claim 1, characterized in that, The method further includes: Determine whether the change in the position coordinates of the abrupt change point in the coin-moving direction exceeds a preset change threshold. If the change in the position coordinates of the abrupt change point in the banknote's direction of movement does not exceed a preset change threshold, the distribution range of the tape edge of the banknote with tape in the horizontal and vertical directions of movement is identified, and the average position coordinates of each tape edge are calculated based on the distribution range. The average position coordinates are then determined as the position coordinates of the equivalent abrupt change point.

8. A banknote sorting machine's banknote feeding control system, characterized in that, The system includes: The sampling module is used to acquire thickness distribution data perpendicular to the banknote movement direction at a preset sampling period during the process of the banknote passing through the first detection position of the banknote movement channel, and to calculate a thickness gradient sequence based on the thickness distribution data. The thickness gradient sequence includes a thickness change rate representing the thickness between adjacent sampling points. The identification module is used to determine that the banknote is a banknote with adhesive tape when there is a sudden change point in the thickness gradient sequence at any sampling time where the gradient value is greater than a preset gradient threshold, and to record the position coordinates of the sudden change point detected at each sampling time. The first calculation module is used to calculate the coverage length ratio of the tape in the direction perpendicular to the coin movement at each sampling time according to the position coordinates of each sampling time, and calculate the equivalent friction coefficient of the corresponding position segment at each sampling time according to the coverage length ratio, so as to obtain the segmented friction force sequence along the coin movement direction. The second calculation module is used to calculate the instantaneous velocity change curve of the banknote with adhesive tape from the first detection position to the preset second detection position based on the segmented friction force sequence, and to calculate the cumulative displacement of the banknote with adhesive tape by time integration based on the instantaneous velocity change curve. The sorting time determination module is used to calculate the target time when the cumulative displacement is equal to the standard distance between the first detection position and the second detection position, and to determine the sorting trigger time based on the time difference between the target time and the standard time. The standard time is the time when the banknote without adhesive tape arrives at the second detection position at a preset banknote speed. The sorting execution module is used to send a sorting instruction to the sorting execution agency at the sorting trigger time to sort the banknotes with adhesive tape into the damaged banknote channel.

9. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions, which are adapted to be loaded by a processor and executed as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, The device includes a processor, a memory, and a transceiver, wherein the memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 7.

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