FIELD: human vital needs satisfaction.
SUBSTANCE: to separate different stacks of valuable documents, the container is divided by separating elements into several storage areas. Since the positions of the separating elements of the various containers for valuable documents may be different, detection is carried out for the container to be processed, in which positions along the container are the separation elements. Detection of the positions of the separation elements occurs independently of the grip by the time moment before the gripper is moved to the container. The data of the container positions of the separating elements is transferred to the gripper control system which is configured to control the movement of the gripper to extract valuable documents from the container.
EFFECT: increasing the speed of retrieving stacks of valuable documents from the container, eliminating the need for a capture run on all possible positions of the dividing elements.
18 cl, 5 dwg
