JPH04333432A - Paper sheets delivery device - Google Patents

Abstract

PURPOSE:To improve delivery reliability to elapse variation and various paper sheets conditions by providing a delivery control part controlling a step motor and a separating roller adjuster according to the delivery consition of paper sheets detected with an optical sensor. CONSTITUTION:Pressing force and a roller gap is adjusted to a prescribed value by reading various prescribed values and initially setting variables when a device is started. Next, a paper sheet condition at the time of the delivery control and delivery of one paper sheet is collected with an optical sensor, paper sheets 9 of a prescribed number Nd or more are delivered, and the condition data of the paper sheets are collected, making the estimation treating of appropriate pressing force and a proper gap. Then a pressure sensor 8, retreated during delivering the paper sheets 9, is moved to a pressure detection position to detect pressing force, a pressing plate 10 is pushed according to a pressure difference when the pressure is higher than a prescribed value, the pressing plate 10 is pulled when lower than a prescribed value, and the sensor is retreated when within a prescribed value, making a condition capable of delivering paper sheets.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of Industrial Application The present invention relates to paper sheet dispensing devices, and particularly to banknote dispensing devices such as automatic teller machines in financial institutions.

0002

2. Description of the Related Art In a conventional sheet feeding device, as shown in FIG.
4 is pressed by the pressing plate 10 connected to the picker.
The gap between the roller 2 and the separation roller 3 was adjusted to a standard value at the time of assembly, and the paper sheets were fed out one by one by the step motor 7 under the control of the feeding control section 15.

Therefore, in this case, the main role of the feeding control section 15 was to control the step motor 7.

0004

[Problem to be Solved by the Invention] In the conventional paper sheet feeding device, the condition of the paper sheets (particularly when a large number of sheets are stacked)
It is not possible to change the pressing force by following the frictional force between the paper sheet 9 and the paper sheet guide 13, which changes depending on the paper sheet 9 (folded, wrinkled, stiff, etc.) The pressing force on the leaves 9 was unstable.

Furthermore, since it is not possible to improve the feeding condition by changing the pressing force and gap based on the past feeding condition, it is not possible to cope with changes over time such as wear of the picker roller 2 and separation roller 3.

Furthermore, a picker roller 2 and a separating roller 3
The gap was manually adjusted during assembly, but it was difficult to adjust the gap to the greatest common denominator based on all types of paper sheets, and required a large amount of assembly man-hours.

[0007]

[Means for Solving the Problems] The present invention provides a roller (pusher roller, picker roller, separation roller) that separates and feeds out a plurality of stacked paper sheets one by one, and a roller that separates and feeds out a plurality of stacked paper sheets one by one, and a pressure plate that presses the product against the pusher roller, a pressure sensor that detects the pressure force, a pressure plate adjuster that adjusts the pressure force of the pressure plate, and a pressure plate adjuster that controls the pressure plate adjuster based on the pressure force detected by the pressure sensor. In addition, a separation roller adjuster that adjusts the gap between the picker roller and the separation roller, an optical sensor that monitors the feeding condition of paper sheets, and a pusher that adjusts the feeding condition of the paper sheets detected by the optical sensor. - It has a step motor that drives the roller and the picker roller, and a feed-out control section that controls the separation roller adjuster.

[0008] Also, in order to determine the pressing force and the gap between the picker roller and the separation roller, there is provided a means for calculating in accordance with an ambiguous empirical rule (fuzzy reasoning), and a means for calculating the ambiguous empirical rule in accordance with the aforementioned ambiguous empirical rule. It is possible to control the left and right pick error monitoring timer values detected by the optical sensor, the means for applying the pressing force values detected by the pressure sensor, and the vague pressing force and roller gap obtained by the vague empirical rule. means for converting into a pressing force value and a gap value.

[0009]

Embodiments Next, embodiments of the present invention will be described based on the drawings. FIG. 1 is an overall configuration diagram of an embodiment of the present invention,
FIG. 2 is a front view of the feeding section.

Furthermore, FIG. 3 is a time chart, and FIG.
to FIG. 19 are control flowcharts for determining an appropriate pressing force and gap depending on the condition of paper sheets.

As shown in FIGS. 1 and 2, the overall structure of the present invention is such that a step motor 7 and a belt 12 are driven to drive a pusher roller 1 and a picker roller 2 that feed paper sheets 9. A separation roller 3 that separates the paper sheets 9 one by one, a feed roller 4 that feeds the separated paper sheets 9, an optical sensor 5 that monitors the state of the fed paper sheets 9, and a paper sheet. A pressure sensor 8 that detects the pressing force between the type 9 and the pusher roller 1, and a paper sheet 9
a pressing plate 10 that presses the paper sheet 9 against the pusher roller 1;
The paper sheet guide 13 guides the paper sheets to the pusher roller 1.

Furthermore, the separation roller adjuster 11 for adjusting the gap between the picker roller 2 and the separation roller 3 is controlled based on the monitoring result of the feeding state of the paper sheets 9 by the optical sensor 5, and the separation roller adjuster 11 is controlled by the pressure sensor 8. A feed-out control section 15 is provided which controls a press plate adjuster 6 that adjusts the pressing force between the paper sheet 9 and the pusher roller 1 based on the detection result.

Further, as shown in FIG. 2, two optical sensors 5 are provided so as to cross the falling direction of paper sheets 9.

Furthermore, the illustrated embodiment includes a reasoning section 16 that determines the gap between the picker roller 2 and the separation roller 3 according to the pressing force detected by the pressure sensor 8 and the state of the paper sheets 9. We are prepared.

The two optical sensors 5 in FIG. 2 are composed of an optical sensor L positioned on the left side of FIG. 2 and an optical sensor R positioned on the right side of FIG. 2. When feeding paper sheets, various timers set the following values. shall be taken.

T0: Feeding interval timer T1: Pick error monitoring timer T2: Feed timer T3: Medium interval timer Also, t0 is the start time of the step motor, t1 is the rising time of the optical sensor signal, and t2 is the falling time of the optical sensor signal. shall be shown.

In particular, when distinguishing between the left and right sides of the optical sensor, L and R are added respectively.

Furthermore, when representing the logical sum and logical product of L and R of the optical sensor, OR and AND shall be added.

The operation of the present invention will be explained according to the flowcharts shown in FIGS. 5 to 19. First, the processing outline of the present invention will be explained with reference to FIG.

First, initial setting processing 101 at the time of starting this device
Now, follow the steps shown in Figure 6 to read various specified values,
and initialize variables. Next, consider the pressing force, roller
In the gap adjustment process 102, the pressing force and roller gap are adjusted to specified values according to the procedure shown in FIG. Next, in the feeding and data collection process 103, the feeding control of one paper sheet and the state of the paper sheet at the time of feeding are collected by an optical sensor according to the procedure shown in FIG.

Next, paper sheets 9 of a certain specified number Nd or more
The process 104 of estimating the appropriate pressing force and gap is performed by collecting the state data of the paper sheet and estimating the appropriate pressing force and gap.
It is carried out according to the procedure shown in 3.

If the work continues, the process returns to the pressing force/gap adjustment (process 102) in FIG. 5 and continues, and if the work is finished, the end process 106 in FIG. Follow the steps to complete.

The initial setting process 101 in FIG. 5 is performed according to the procedure shown in FIG. Pressure force and picker
Read the specified value of the gap (hereinafter referred to as gap) between roller 2 and separation roller 3 (FIG. 6, process 151 and process 152), and set the number of data nd obtained by feeding to 0.
It is cleared (FIG. 6, process 153), and this process ends.

Pressing force/gap adjustment processing 102 in FIG.
is performed according to the procedure shown in FIG.

During the feeding of paper sheets 9, the retracted pressure sensor 8 is moved to the pressure detection position (FIG. 7, process 201).
), the pressing force is detected (FIG. 7, process 202). At this time, if the pressure is greater than the specified value, press the press plate 10 according to the pressure difference (FIG. 7, process 204), and if the pressure is less than the specified value, pull the press plate 10 (FIG. 7, process 203).
, the process returns to the pressure detection process (FIG. 7, process 202). If it is within the specified value, the sensor is evacuated (FIG. 7, process 206),
Make it possible to unwind paper sheets. Next, the gap is set to a specified value (FIG. 7, process 207), and this process ends.

Unrolling and data collection processing 103 in FIG.
is performed according to the procedure shown in FIG.

Clear the dispensed sheet number counter n to 0 (
FIG. 8, process 301), repeatedly generates an interrupt at each feeding interval, and starts a feeding interval timer T0 that notifies the feeding timing (FIG. 8, process 302).

Next, a pick miss monitoring timer T1 that generates an interrupt after a certain period of time is activated (FIG. 8, process 303).
), T1L, T1R, T2L, and T2R are cleared to 0 (FIG. 8, process 304), and a payout process (FIG. 8, process 305) is performed according to the procedure shown in FIG.

[0029] When the payout is successful, T1L, T1
The timer values of R, T1OR, T2L, and T2R are recorded (FIG. 8, process 307), and 1 is added to the dispensed sheet number counter n and the data number nd (FIG. 8, process 308).
).

If n is less than the number of sheets fed out, in order to maintain the feeding interval, the system waits for the next feeding timing (Fig. 8
・Perform process 311), wait for notification of the timing of feeding of the feeding interval timer activated in process 302 of FIG. 8, and return to process 303 of FIG. If n is the number of sheets fed out, the feeding interval timer is stopped (Figure 8, Process 31
0) Do.

Further, if it is determined in the process 306 of FIG. 8 that the feeding has failed, the process 310 of FIG. 8 is performed and the feeding interval timer is stopped.

In the feeding process 305 in FIG. 8, T1L, T1R, and timers are activated as shown in FIGS. 9 to 12 (process 321 in FIG. 9), and the step motor 7 is driven to start feeding out the paper sheets. (FIG. 9, process 322).

Next, the rising trigger t1 of the left and right optical sensors 5 is waited for (step 323 in FIG. 9). In the process of waiting for the trigger t1, as shown in FIG. 10, a timeout of the T1L or T1R trigger or the pick miss monitoring timer is waited for (process 341 in FIG. 10).

In process 341 of FIG. 10, when t1L is entered, T1L is recorded (FIG. 10, process 345), and T2L is recorded.
A timer is started (FIG. 10, process 346).

Furthermore, when t1R is entered, T1R is recorded (FIG. 10, process 343), and the T2R timer is started (FIG. 10, process 344).

Next, check whether both triggers t1L and t1R have been notified (FIG. 10, process 349),
If only one trigger is detected, the process returns to process 341 in FIG. 10, and if both triggers have been notified, the pick miss monitoring timer is stopped (process 350 in FIG. 10) and the feed timer is started (process 350 in FIG. 10). 351), t1 Trigger wait processing ends.

When a timeout is detected in the judgment of process 342 in FIG. 10, it is considered that a pick mistake has occurred, so the drive of the step motor is stopped (process 3 in FIG. 10).
47), t1 wait timeout is recorded, and the process moves to timer value check processing 326 in FIG.

t1 After the trigger wait process is normally completed, the paper sheet 9 is being fed by the feed roller 4, so the drive of the step motor 7 is stopped (FIG. 9, process 3).
24), the paper sheet feeding operation is ended.

Next, paper sheets 9 are fed by the feed roller 4.
In order to confirm that the light sensor is being transported, a process is performed to wait for the falling trigger t2 of the optical sensor (see Fig. 9).
- Processing 325).

t2 Trigger waiting process is shown in FIG.
According to the procedure shown in , first, t2L, t2R trigger,
Alternatively, it waits for the feed timer to time out (FIG. 11, process 361). When t2L entered,
Record T2L (Figure 11, process 364), and when t2R is entered, record T2R (Figure 11, process 363)
.

Next, it is checked whether both triggers t2L and t2R have been notified (FIG. 11, process 366), and if only one trigger has been reported, the process returns to process 361 in FIG. 11, and both triggers have been notified. At this time, the feed timer is stopped (FIG. 11, process 367) and the t2 trigger wait process is ended. When a timeout is detected as determined by process 362 in FIG. 11, it is considered that a chain or jam has occurred, so the t2 wait timeout is recorded and the process ends.

Next, the feeding state of the paper sheet is checked based on each timer value in accordance with the procedure shown in FIG. 12 in step 326 of FIG.

First, T1L, T1R, T2L, T2R,
And from T0, T1OR, T1AND, T2OR,
T2AND, T3L, T3R, T3OR, T3AND
, is calculated (FIG. 12, processes 381 to 384).

t1 If a waiting timeout has occurred, it is determined that a pick miss has occurred (FIG. 12, process 389). t
2. If a waiting timeout has occurred, check the optical sensor 5. If it is Hi, it is considered that two or more cards were fed out in a row, so it is assumed that a chain reaction has occurred. If it is Lo,
Since it is thought that the paper sheet 9 is present at the position of the optical sensor, it is determined that a jam has occurred (FIG. 12, process 392).

[0045] Also, T1L and T1R are set to a certain value (TS
), it is considered that the paper sheet 9 was fed out diagonally, and therefore it is determined that a skew (diagonal feeding) has occurred (FIG. 12, process 388).

Furthermore, T3OR is the paper interval guarantee time T3S (
If it is less than the minimum paper sheet interval time guaranteed when feeding paper sheets), it is determined that there is a paper interval guarantee error (Figure 12, Process 39).
4).

With this, the timer value check process (process 326) in FIG. 9 is completed.

According to the result of the timer value check process, FIG.
In step 306, success or failure of the drawing is determined.

In the automatic teller machine, when a pick error or a jam occurs, the next payout is stopped as a payout abnormality. However, in the case of paper spacing guarantee abnormality or skew occurrence, it is possible to remove the paper sheet and continue the next feeding without treating it as a feeding abnormality.

The appropriate pressing force/appropriate gap estimation process 104 shown in FIG. 5 will be explained according to the procedure shown in FIG. 13.

First, check whether the number of data obtained by feeding out is greater than or equal to the specified number Nd, and if n
If d is not greater than Nd, the process of estimating the appropriate pressing force and gap is not performed, and if nd is not less than Nd, the appropriate pressing force is first estimated by estimation process 40 in FIG.
Do it in 2.

[0052] By estimating the appropriate pressing force and gab using data from a large number of sheets, it is possible to determine whether the paper sheets are fed out in a peculiar state (creased, stiff, wrinkled, in close contact, etc.). This is to prevent the specified values of the pressing force and the gap from changing significantly.

The appropriate pressing force estimation process 402 in FIG.
This will be explained according to the procedure shown in FIG. Perform fuzzy inference on the appropriate pressing force using T1OR (Fig. 14, process 421), obtain the amount of change △P in the pressing force, and add △P to the previous specified pressing force value P (Fig. 14, process 422). , shall be the next pressing force specified value.

Next, only when there is no change in the appropriate pressing force, the appropriate gap is estimated in the estimation process 404 of FIG. 13 according to the procedure shown in FIG.

This is because if both the pressing force and the gap are changed at the same time, the pressing force and the gap do not converge to appropriate values and tend to vibrate.

In the appropriate gap estimation process shown in FIG. 15, the amount of change Δd in the appropriate gap is obtained using T1L and T1R separately for the left and right sides, and the previous appropriate gap specified value d is
Δd is added to L or dR and set as the next appropriate gap regulation value (FIG. 15, processes 441 to 444).

Finally, Nd is cleared to 0 and the appropriate pressing force/appropriate gap estimation process is completed.

The termination process 106 in FIG. 5 will be explained according to the procedure shown in FIG. 16. First, write the appropriate pressing force specified value and appropriate gap specified value (Fig. 16, Process 5).
01, 502).

Next, details of the fuzzy inference process for the appropriate pressing force and the appropriate gap will be explained with reference to FIG. First, the data counter n is cleared to 0 (process 1001), and the conclusion membership function 0 (m
sf0) is cleared to 0 (processing 1002), and the conclusion membership function 1 (ms
All elements of f1) are cleared to 0 (processing 1003).

Next, data d[n] (T1OR for pressing force, 1 of T1L or T1R for gap)
Perform fuzzy inference on data) (processing 1004
).

FIG. 18 shows the details of the fuzzy inference processing flow. An empirical rule in reasoning can be expressed as if A then B. In this case, if A is called the antecedent part and B is called the consequent part, the antecedent part and the consequent part are, for example, in the case of pressing force, as shown in FIGS. 20(a) and (b), and in the gap. If so, it is represented by a fuzzy set as shown in FIGS. 21(a) and 21(b), and each rule can be represented by a membership function. At this time,
The relationship between the antecedent part and the consequent part is shown in Figure 20(c) and Figure 21(c).
It can be expressed as

At this time, NL is large negative, NM is medium negative, N
S is negative small, ZR is 0, PS is positive small, PM is positive medium,
PL represents positive magnitude.

As shown in FIG. 22(a), each membership function is composed of NE singleton elements up to NE-1, and is digitized as shown in FIG. 22(b).

Since the input data for inference is a singleton, first calculate the element number m corresponding to d[n] using the following formula 1 (FIG. 18, process 1021)

0065
]

[Math 1]

[0066] At this time, Xmax is the maximum value that d[n] can take, Xmin is the minimum value that d[n] can take,
NE is the number of elements.

Once the element number m is determined, the conclusion of the antecedent part is obtained as α as the m-th element of the membership function, as shown in FIG. 22(c) (FIG. 18, process 1022).

Next, the rule variable i is cleared to 0 (Fig. 18
- Process 1023), clear element variable j to 0 (
FIG. 18 - Process 1024).

Furthermore, the conclusion membership function 1 can be obtained for each element by the following formula (FIG. 18, process 1025).

Conclusion msf1[j]=max (Conclusion ms
f1[j], min (consequent part msf[j], α))
At this time, max represents the maximum value of each element, and min represents the minimum value. Next, add 1 to j (Figure 18, Process 10
26).

While j is smaller than NE, process 1 in FIG.
By repeating steps 025 and 1026 and calculating all the elements of the membership function, for example,
).

Furthermore, 1 is added to i (Fig. 18, Process 10
28), while i is smaller than the number of rules (NR), calculation is repeated for all rules to obtain the conclusion membership function 1. An example of the obtained membership function is shown in Figure 2.
3(b).

Furthermore, the conclusion membership function 1 is added to the conclusion membership function 0 for each element (FIG. 17, process 1005). When these processes are performed for nd data while adding 1 to n (process 1006 in FIG. 17), the conclusion membership function 0 is as shown in FIG. 23 (C).
It will look like this.

For the conclusion membership function 0 thus obtained, the center of gravity g is calculated using the following equation 2 (FIG. 17, process 1008).

[0075]

[Math 2]

FIG. 19 shows the flow of the centroid calculation process for the conclusion membership function 0.

First, rule variable i is cleared to 0 (Fig. 19
- Process 1041), then clear the torque variable t and weight variable w, which are elements, to 0 (Fig. 19 - Process 1042)
.

Next, while adding i by 1, calculate t=t+conclusion msf0[i]×i w=w+conclusion msf0[i] for all elements (FIG. 19, processes 1043 to 1045) g=t/
Get the center of gravity with w. The displacement amount is obtained from the obtained center of gravity using the following equation 3 (FIG. 17, process 1009).

[0079]

[Math 3]

[0080]

[Effect of the invention] The pressing force and gap can be dynamically adjusted based on the history of past feeding conditions, so by feeding paper sheets, the pressing force and gap can be automatically adjusted, including individual differences in the device. . Therefore, when assembling the device,
Since there is no need to adjust the gap between the picker roller and separation roller while estimating the feeding state of paper sheets, the number of assembly steps can be significantly reduced.

Furthermore, the feeding device according to the present invention is resistant to changes over time, and it is possible to change the feeding condition according to the condition of the paper sheets to be fed, thereby improving reliability.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of the present invention.

FIG. 2 is a front view of a paper sheet feeding section.

FIG. 3 is a time chart.

FIG. 4 is an overall configuration diagram of a conventional device.

FIG. 5 is a flowchart of main processing.

FIG. 6 is a flowchart of initial setting processing.

FIG. 7 is a flowchart of pressing force/gap adjustment processing.

FIG. 8 is a flowchart of feeding control and data collection processing.

FIG. 9 is a flowchart of feeding processing.

FIG. 10 is a flowchart of t1 trigger wait processing.

FIG. 11 is a flowchart of t2 trigger wait processing.

FIG. 12 is a flowchart of timer value check processing.

FIG. 13 is a flowchart of appropriate pressing force/gap processing.

FIG. 14 is a flowchart of appropriate pressing force estimation processing.

FIG. 15 is a flowchart of appropriate gab estimation processing.

FIG. 16 is a flowchart of termination processing.

FIG. 17 is a flowchart of fuzzy inference processing.

FIG. 18 is a flowchart of the fuzzy inference section.

FIG. 19 is a flowchart of the conclusion msf center of gravity calculation process.

FIG. 20 is an example of fuzzy sets and rules in optimal pressing force inference.

FIG. 21 is an example of fuzzy sets and rules in optimal gap inference.

FIG. 22 is an explanatory diagram of a fuzzy set and an inference process.

FIG. 23 is an explanatory diagram of a fuzzy set and an inference process.

Claims (3)

[Claims] Claim 1: A pusher roller that presses paper sheets, a picker roller and a separation roller that are arranged opposite to each other and that guide the paper sheets sent out from the pusher roller, and a plurality of sheets are stacked. A paper sheet feeding device that separates and feeds stacked paper sheets one by one includes a press plate that presses stacked paper sheets against a pusher roller, a press plate adjuster that adjusts the pressing force of the press plate, and a picker. A paper characterized by comprising a separation roller adjuster for adjusting the gap between the roller and the separation roller, and further comprising an adjustment means for adjusting the pressing force and the gap according to the feeding state of the paper sheet. Leaf feeding device. 2. The adjusting means controls the pressure plate adjuster in response to a measurement result of a pressure sensor that detects the pressing force, and further controls the pressure plate adjuster in response to a measurement result of an optical sensor that monitors the feeding state of paper sheets. 2. The paper sheet feeding device according to claim 1, further comprising a feeding control section for controlling said separation roller adjuster. 3. The adjusting means calculates in accordance with an ambiguous empirical rule (fuzzy reasoning) when determining appropriate values for the pressing force and the gap in the state in which the paper sheet is fed out, and to the left and right pick error monitoring timer values detected by the optical sensor and the pressing force value detected by the pressure sensor, and the ambiguous pressing force and gap obtained by the vague empirical rule,
2. The paper sheet feeding device according to claim 1, further comprising an inference section having means for converting the pressure value into a controllable pressing force value and a gap value.