Abstract: The disclosure relates to a banknote handling machine comprising: a banknote transport arrangement configured to transport banknotes along transport paths within the machine, wherein the banknote transport arrangement comprises a diverter assembly comprising: a diverter rotatably attached to a structure of the machine, and an electric motor configured to transfer kinetic energy to the diverter so as to rotate the diverter between a first position and a second position, wherein the diverter, when in the first position, is configured to control banknotes to be transported along a first transport path, and wherein the diverter, when in the second position, is configured to control banknotes to be transported along a second transport path.

Abstract: In various embodiments, a system for detecting an obscurant on an environment surface includes a light source; a scanner; a receiver that detects scattered reflection returns, some of which may be below a detection threshold; and a processor. The processor determines whether the portion below the threshold corresponds to an obscurant on an environment surface, including by: receiving a new point cloud including a group of points corresponding to the environment surface, clustering at least a portion of the group of points to form a projected shape, and clustering into a candidate cluster at least a portion of the portion below the threshold that belong to projected locations within the shape. The obscurant candidate cluster is compared with a previously determined cluster to determine whether a detected change conforms to a detected physical movement of the system. If so, the obscurant candidate cluster is an obscurant on the environment surface.

Abstract: A point cloud generated at least in part using a lidar sensor is received. A geometric mesh based on the point cloud is determined. A seed geometric face formed in the geometric mesh is selected based on one or more seed selection criteria. Starting from the seed geometric face, neighboring geometric faces of the geometric mesh that meet one or more relative neighbor selection criteria are iteratively selected into a region group, and an operable region indicated by the region group is detected.

Abstract: A note directing device (1) comprises a first note feeder (11), a brushed roller (2), and a second note feeder (12); wherein: the first note feeder (11) feeds the bank note (10) along a direction (A) tangential to a bank note (10) surface and presents the leading edge (14) of the bank note (10) to the brushed roller (2); the brushed roller (2) engages with the bank note (10) and rotates in a direction (B) such that the leading edge (14) is directed towards the second note feeder (12); the second note feeder (12) accepts the leading edge (14) and feeds the bank note (10) along a direction (C) tangential to a bank note (10) surface; wherein the brushed roller (2) comprises an axis (4) and bristles (6), each bristle (6) being attached at one end to the axis (4) and extending radially from said axis (4), the distribution of bristles (6) extending along a longitudinal direction (E) of the axis (4).

Abstract: The disclosure relates to a banknote handling machine comprising: a banknote transport arrangement configured to transport banknotes along transport paths within the machine, wherein the banknote transport arrangement comprises a diverter assembly comprising: a diverter rotatably attached to a structure of the machine, and an electric motor configured to transfer kinetic energy to the diverter so as to rotate the diverter between a first position and a second position, wherein the diverter, when in the first position, is configured to control banknotes to be transported along a first transport path, and wherein the diverter, when in the second position, is configured to control banknotes to be transported along a second transport path.

Abstract: The disclosure relates to a banknote handling machine comprising: a banknote transport arrangement configured to transport banknotes along transport paths within the machine, wherein the banknote transport arrangement comprises a diverter assembly comprising: a diverter rotatably attached to a structure of the machine, and an electric motor configured to transfer kinetic energy to the diverter so as to rotate the diverter between a first position and a second position, wherein the diverter, when in the first position, is configured to control banknotes to be transported along a first transport path, and wherein the diverter, when in the second position, is configured to control banknotes to be transported along a second transport path.

Abstract: The disclosure relates to a banknote handling machine comprising: a banknote transport arrangement configured to transport banknotes along transport paths within the machine, wherein the banknote transport arrangement comprises a diverter assembly comprising: a diverter rotatably attached to a structure of the machine, and an electric motor configured to transfer kinetic energy to the diverter so as to rotate the diverter between a first position and a second position, wherein the diverter, when in the first position, is configured to control banknotes to be transported along a first transport path, and wherein the diverter, when in the second position, is configured to control banknotes to be transported along a second transport path.

Abstract: A note directing device (1) comprises a first note feeder (11), a brushed roller (2), and a second note feeder (12); wherein: the first note feeder (11) feeds the bank note (10) along a direction (A) tangential to a bank note (10) surface and presents the leading edge (14) of the bank note (10) to the brushed roller (2); the brushed roller (2) engages with the bank note (10) and rotates in a direction (B) such that the leading edge (14) is directed towards the second note feeder (12); the second note feeder (12) accepts the leading edge (14) and feeds the bank note (10) along a direction (C) tangential to a bank note (10) surface; wherein the brushed roller (2) comprises an axis (4) and bristles (6), each bristle (6) being attached at one end to the axis (4) and extending radially from said axis (4), the distribution of bristles (6) extending along a longitudinal direction (E) of the axis (4).