Automatic ancient book repairing system integrating optimal parameter reasoning

Abstract

The invention discloses an ancient book automatic restoration system integrating optimal parameter reasoning, which comprises an optimal parameter reasoning system, a man-machine interaction module, a main control module and a restoration execution mechanism, and is characterized in that the optimal parameter reasoning system and the man-machine interaction module are arranged on an upper computer, the main control module is arranged on a lower computer, and the restoration execution mechanism is arranged on the lower computer. The man-machine interaction module and the main control module are both connected with the optimal parameter reasoning system, and the repair execution mechanism is connected with the signal output end of the main control module. According to the method, the appropriate execution parameters of the paper supplementing and repairing execution mechanism can be deduced according to the material attributes of the to-be-repaired ancient book paper, a set of complete automatic ancient book repairing scheme is constructed, automatic ancient book repairing operation is achieved, the tedious degree of manual operation is reduced, and the efficiency of ancient book repairing work is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic restoration of ancient books, and in particular to an automatic restoration system for ancient books integrating optimal parameter reasoning. Background Art

[0002] At present, the restoration of ancient books mainly relies on manual operations, but due to the low efficiency of restoration and the serious shortage of restoration technicians, large-scale restoration of ancient books cannot be carried out. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an ancient book automated repair system that integrates optimal parameter reasoning, which can infer appropriate execution parameters of paper filling and repair actuators according to the material properties of the ancient book paper to be repaired, and construct a complete set of automated ancient book repair solutions to realize automated repair operations of ancient books, reduce the tediousness of manual operations, and greatly improve the efficiency of ancient book repair work.

[0004] The technical solution of the present invention is:

[0005] An ancient book automatic restoration system integrating optimal parameter reasoning includes an optimal parameter reasoning system, a human-computer interaction module, a main control module and a restoration execution mechanism, wherein the optimal parameter reasoning system and the human-computer interaction module are both arranged on a host computer, the main control module is arranged on a slave computer, the human-computer interaction module and the main control module are both connected to the optimal parameter reasoning system, and the restoration execution mechanism is connected to a signal output terminal of the main control module;

[0006] The optimal parameter reasoning system includes a paper database and a parameter reasoning model. The paper information and hole coordinate information of the damaged ancient book are input through the human-computer interaction module, and then the input paper information and hole coordinate information of the damaged ancient book are sent to the parameter reasoning model. The parameter reasoning model compares and analyzes the paper information of the damaged ancient book with the paper sample data stored in the paper database to obtain the paper sample that best matches the paper of the damaged ancient book as the patch paper. Then, the ancient book repair plan is constructed based on the hole coordinate information and the selected patch paper data.

[0007] The main control module controls various execution modules in the repair execution mechanism to perform ancient book repair operations according to the parameter information of the repair execution mechanism in the generated ancient book repair plan.

[0008] The paper information of the damaged ancient books includes paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity information.

[0009] The paper sample data stored in the paper database include the paper name, paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity of various paper samples, as well as glue configuration ratio parameters and execution module parameters obtained by performing glue ratio experiments, laser cutting experiments, hole edge glue coating experiments, adsorption transfer experiments and press-fitting experiments on each paper sample; the parameter reasoning model compares and analyzes the paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity information of the damaged ancient book with the paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity of various paper samples stored in the paper database one by one, and obtains the paper sample that best matches the damaged ancient book paper, and then the parameter reasoning model integrates and constructs the ancient book restoration plan according to the hole coordinate information and all paper sample data of this type of paper sample stored in the paper database.

[0010] The parameter inference model compares and analyzes the paper information of the damaged ancient book with the paper sample data stored in the paper database, and the specific steps of obtaining the paper sample that best matches the damaged ancient book paper are as follows:

[0011] A1. Parameter inference model First, the categorized data of damaged ancient book papers and various paper samples, namely paper type and fiber type, are processed by one-hot encoding and converted into numerical vectors; the continuous data, namely paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity, are processed by standard normalization and converted into a normal distribution with a mean of 0 and a standard deviation of 1;

[0012] A2. For the numerical vector after the classification data conversion, calculate the Hamming distance between the damaged ancient book paper and each paper sample in the paper database. The calculation process of the Hamming distance is shown in the following formula (1);

[0013]

[0014] In formula (1), d H (P 0 , P i ) is a damaged ancient book paper P 0 and paper sample P i The Hamming distance between them, K is the number of discrete features after one-hot encoding in the paper classification data, x 0k and x ik They are damaged ancient book paper P 0 and paper sample P i When the value of the kth discrete feature is not equal, then (x 0k ≠x ik ) takes 1, otherwise takes 0;

[0015] A3. For the data after the continuous data standard normalization processing, the Euclidean distance between the damaged ancient book paper and each paper sample in the paper database is calculated. The calculation process of the Euclidean distance is shown in the following formula (2);

[0016]

[0017] In formula (2), d O (P 0 , P i ) is a damaged ancient book paper P 0 and paper sample P i The Euclidean distance between them, N is the number of continuous features in the paper’s standardized data, y 0n and in It is a damaged ancient book paper P 0 and paper sample P i The value of the nth continuous feature;

[0018] A4. Perform a weighted sum of the Hamming distance and the Euclidean distance corresponding to each paper sample to obtain the Gower distance corresponding to each paper sample in the paper database. The calculation process of the Gower distance is shown in the following formula (3);

[0019]

[0020] In formula (3), d G (P 0 , P i ) is a damaged ancient book paper P 0 and paper sample P i The Gower distance between them, N+K is the sum of the number of discrete features after one-hot encoding of the categorical data and the number of continuous features in the standardized data, and w 1 and w 2 is the set weight parameter;

[0021] A5. Sort the Gower distances between various paper samples in the paper database and the damaged ancient book paper by size, and select the paper sample corresponding to the smallest Gower distance as the paper sample that best matches the damaged ancient book paper.

[0022] The repair actuator includes a main XY motion axis, a secondary XY motion axis, a gluing module, an adsorption transfer module and a pressing module arranged at the end of the main XY motion axis, a laser module arranged at the end of the secondary XY motion axis, and a vortex vacuum adsorption fan for the ancient book repair platform and a vortex vacuum adsorption fan for the paper repair and cutting platform.

[0023] The parameter information of the repair actuator in the ancient book repair scheme is in JSON data format, which is divided into the following five stages of parameter information:

[0024] B1. Preparation stage: the paper name, paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity, as well as the glue solution configuration ratio parameters;

[0025] B2, laser cutting stage: motion parameters, status and cutting trajectory information of the secondary XY motion axis and laser module;

[0026] B3, hole contour gluing stage: motion parameters, status and gluing trajectory information of the main XY motion axis and gluing module;

[0027] B4, paper filling adsorption transfer stage: motion parameters, status and adsorption transfer trajectory information of the main XY motion axis and adsorption transfer module;

[0028] B5. Pressing and fitting stage: motion parameters, status and pressing trajectory information of the main XY motion axis and pressing module.

[0029] The lower computer is also provided with a touch screen connected to the main control module, and the touch screen is used for inputting automatic start and pause control instructions of the repair actuator and displaying the execution progress of each execution module of the repair actuator.

[0030] The specific steps of the repair execution mechanism for performing the ancient book repair operation are as follows:

[0031] C1. Preparation stage: Place the damaged ancient book paper on the ancient book repair platform, place the repair paper to be cut on the repair paper cutting platform, pour the prepared glue into the glue container, turn on the vortex vacuum adsorption fan of the ancient book repair platform and the vortex vacuum adsorption fan of the repair paper cutting platform through the touch screen, so that the damaged ancient book paper is adsorbed on the ancient book repair platform, and the repair paper to be cut is adsorbed on the repair paper cutting platform, and then start the automatic repair program through the touch screen;

[0032] C2, laser cutting stage: the main control module controls the secondary XY motion axis to switch to the absolute motion mode, and moves to the calibrated initial point of the cutting trajectory at the set speed. Then, after the laser module is turned on and preheated for a certain period of time, the main control module controls the secondary XY motion axis to drive the laser module to cut the paper to be cut on the paper cutting platform along the cutting trajectory in the M4 dynamic power mode. After the cutting task is completed, the main control module turns off the laser module, and the secondary XY motion axis executes the reset command. The laser cutting task is completed, and the execution progress is displayed in real time on the execution progress display interface of the touch screen;

[0033] C3, hole contour gluing stage: the main control module controls the gluing module to perform the gluing pen tip pre-wetting operation, and then controls the main XY motion axis to switch to the absolute motion mode, and moves to the calibrated initial point of the gluing track at a set speed. The main XY motion axis then drives the gluing module to perform the hole contour gluing operation along the gluing track at a set speed, and the execution progress is displayed in real time on the execution progress display interface of the touch screen;

[0034] C4, paper repair adsorption and transfer stage: the main control module controls the main XY motion axis to move at a set speed to make the center of the vacuum suction cup of the adsorption transfer module align with the center point of the cut paper repair, and then controls the paper repair cutting platform to use the vortex vacuum adsorption fan to close, and then controls the vacuum suction cup of the adsorption transfer module to move down to adsorb the cut paper repair, and then the main XY motion axis drives the adsorption transfer module to move according to the motion parameters at the set speed until the center of the vacuum suction cup coincides with the center point of the damaged area of ​​the damaged ancient book paper, and then controls the vacuum suction cup of the adsorption transfer module to move down again to overlap the damaged area of ​​the damaged ancient book paper, and then the vacuum suction cup releases the adsorption function, the paper repair is adsorbed on the ancient book repair platform and adheres to the hole after the glue is applied on the damaged ancient book paper, and at the same time the vacuum suction cup of the adsorption transfer module moves up and resets, and the execution progress is displayed in real time on the execution progress display interface of the touch screen;

[0035] C5, Pressing and fitting stage: The main control module controls the main XY motion axis to move at a set speed, so that the center of the pressing disc of the pressing module moves to the first pressing coordinate point of the pressing trajectory. The main XY motion axis drives the pressing module to perform a pressing operation along the pressing trajectory. Each time it moves to a pressing coordinate point, the pressing disc of the pressing module moves down at a set descending speed to perform a pressing operation. After the pressing is completed, the pressing disc of the pressing module moves up and resets, and the main XY motion axis executes the reset command. The execution progress display interface of the touch screen displays the completion of the repair in real time.

[0036] The main XY motion axis establishes a main coordinate system with the glue pen tip of the glue coating module in the initial state as the origin, and the secondary XY motion axis establishes a secondary coordinate system with the laser spot of the laser module in the initial state as the origin. The main coordinate system and the secondary coordinate system are opposite in the X-axis and Y-axis directions. Δx represents the distance between the origin of the main coordinate system and the origin of the secondary coordinate system in the horizontal direction, Δy represents the distance between the origin of the main coordinate system and the origin of the secondary coordinate system in the vertical direction, and the coordinate point (x slave ,y slave ) is transformed into the coordinate point (x master ,y master ) satisfies the following formula (1):

[0037]

[0038] The relative distances between the center of the vacuum suction cup of the adsorption transfer module, the center of the pressing disc of the pressing module and the tip of the glue coating pen in the X and Y axis directions of the two-dimensional plane are measured by actual measurement. Based on the relative position relationship between the center of the vacuum suction cup, the center of the pressing disc and the tip of the glue coating pen, the main XY motion axis is controlled to move to change the two-dimensional plane position of the glue coating pen, the vacuum suction cup and the pressing disc.

[0039] In the paper-filling adsorption transfer stage, the center point of the paper-filling is the center point of the paper-filling in the secondary coordinate system converted to the corresponding coordinate point in the primary coordinate system, that is, the adsorption point at the center of the vacuum suction cup.

[0040] In the hole contour gluing stage, the calibrated initial point of gluing coincides with the end point, the gluing pen produces excess glue at this point, and the gluing module sucks back the excess glue at this point.

[0041] Advantages of the present invention:

[0042] (1) The present invention deploys an optimal parameter reasoning system and a human-computer interaction module on the host computer. The human-computer interaction module realizes the input of the parameters of the ancient book paper to be repaired and the output display of the ancient book repair plan. The optimal parameter reasoning system can automatically infer the optimal paper repair type and the corresponding repair parameters for different categories of ancient book paper, and integrate the hole coordinate information of the damaged ancient book paper to generate a complete set of automated ancient book repair plans, thereby ensuring the wide range of types of ancient books that can be repaired.

[0043] (2) The present invention arranges a main control module on the lower computer, and the main control module receives parameter information of the automated ancient book repair scheme, and controls the execution module of the repair execution mechanism to perform automated repair according to the parameter information, thereby improving the efficiency of paper ancient book repair without reducing the quality of ancient book repair.

[0044] (3) The present invention arranges a touch screen connected to the main control module on the host computer. The touch screen is used to automatically start the repair actuator and display the execution progress of each execution module of the repair actuator, thereby realizing the start, pause and status display functions controlled by the main control module, making it convenient for the repair personnel to grasp the progress of the ancient book repair in real time and realizing the auxiliary control function. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a principle block diagram of the present invention.

[0046] Figure 2 It is a display interface architecture diagram of the human-computer interaction module of the present invention.

[0047] Figure 3 It is a display interface architecture diagram of the touch display screen of the present invention.

[0048] Figure 4It is a structural schematic diagram of the repair execution mechanism of the present invention.

[0049] Figure numerals: 1-optimal parameter reasoning system, 2-human-computer interaction module, 3-main control module, 4-touch display screen, 5-repair actuator, 11-paper database, 12-parameter reasoning model, 51-main XY motion axis, 52-secondary XY motion axis, 53-gluing module, 54-adsorption transfer module, 55-pressing module, 56-laser module, 57-vortex fan module, 58-ancient book repair platform, 59-paper repair and cutting platform, 6-damaged ancient book paper, 7-repair paper to be cut. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] See Figure 1 , an ancient book automatic repair system integrating optimal parameter reasoning, including an optimal parameter reasoning system 1, a human-computer interaction module 2, a main control module 3, a touch screen 4 and a repair execution mechanism 5, the optimal parameter reasoning system 1 and the human-computer interaction module 2 are arranged on the upper computer, the main control module 3 and the touch screen 4 are arranged on the lower computer, the upper computer and the lower computer are connected to each other through a serial port-Ethernet interface, the human-computer interaction module 2 and the main control module 3 are connected to the optimal parameter reasoning system 1, the touch screen 4 and the repair execution mechanism 5 are connected to the signal output end of the main control module 3, the touch screen 4 is used for inputting automatic start and pause control instructions of the repair execution mechanism, and displaying the execution progress of each execution module of the repair execution mechanism 5 (see Figure 3 );

[0052] The optimal parameter inference system 1 includes a paper database 11 and a parameter inference model 12, through a human-computer interaction module 2 (see Figure 2 ) inputs the paper information and hole coordinate information of the damaged ancient book, and then sends the input paper information and hole coordinate information of the damaged ancient book to the parameter reasoning model 12, the parameter reasoning model 12 compares and analyzes the paper information of the damaged ancient book with the paper sample data stored in the paper database 11, and obtains the paper sample that best matches the damaged ancient book paper as the paper patch, and then integrates and constructs the ancient book repair plan according to the hole coordinate information and the selected paper patch data, and the generated ancient book repair plan is displayed on the display interface of the human-computer interaction module 2 (see Figure 2 ) output display, and also input new paper sample data into the paper database 11 through the human-computer interaction module 2;

[0053] The main control module 3 controls various execution modules 5 in the repair execution mechanism to perform the ancient book repair operation according to the parameter information of the repair execution mechanism in the generated ancient book repair scheme;

[0054] See Figure 4 The repair actuator 5 includes a main XY motion axis 51, a secondary XY motion axis 52, a gluing module 53, an adsorption transfer module 54 and a pressing module 55 arranged at the end of the main XY motion axis 51, a laser module 56 arranged at the end of the secondary XY motion axis 52, and a vortex vacuum adsorption fan for the ancient book repair platform connected to the ancient book repair platform 58 and a vortex vacuum adsorption fan for the paper repair cutting platform connected to the paper repair cutting platform 59; the vortex vacuum adsorption fan for the ancient book repair platform and the vortex vacuum adsorption fan for the paper repair cutting platform constitute a vortex fan module 57.

[0055] Among them, the paper information of the damaged ancient books includes paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity information; the paper sample data stored in the paper database 11 includes the paper name, paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity of various paper samples, as well as glue configuration ratio parameters and execution module parameters obtained by glue ratio experiment, laser cutting experiment, hole edge glue coating experiment, adsorption transfer experiment and press fitting experiment for each paper sample; the parameter reasoning model 12 compares and analyzes the paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity information of the damaged ancient books with the paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity of various paper samples stored in the paper database one by one, and obtains the paper sample that best matches the paper of the damaged ancient book, and then the parameter reasoning model 12 integrates the hole coordinate information and all paper sample data of this type of paper sample stored in the paper database 11 to obtain the ancient book restoration plan.

[0056] The parameter inference model 12 compares and analyzes the paper information of the damaged ancient book with the paper sample data stored in the paper database 11 to obtain the paper sample that best matches the damaged ancient book paper. The specific steps are:

[0057] A1. Parameter inference model 12 First, the categorized data of damaged ancient book papers and various paper samples, namely paper type and fiber type, are processed by unique hot encoding and converted into numerical vectors; the continuous data, namely paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity, are processed by standard normalization and converted into a normal distribution with a mean of 0 and a standard deviation of 1;

[0058] A2. For the numerical vector after the data type conversion, calculate the Hamming distance between the damaged ancient book paper and each paper sample in the paper database. The calculation process of the Hamming distance is shown in the following formula (1);

[0059]

[0060] In formula (1), d H (P 0 , P i ) is a damaged ancient book paper P 0 and the Hamming distance between the paper sample Pi, K is the number of discrete features after one-hot encoding in the paper classification data, x 0k and x ik They are damaged ancient book paper P 0 and paper sample P i When the values ​​of the kth discrete feature are not equal, then (x 0k ≠x ik ) takes 1, otherwise takes 0;

[0061] A3. For the data after the continuous data standard normalization processing, the Euclidean distance between the damaged ancient book paper and each paper sample in the paper database is calculated. The calculation process of the Euclidean distance is shown in the following formula (2);

[0062]

[0063] In formula (2), d O (P 0 , P i ) is a damaged ancient book paper P 0 and paper sample P i The Euclidean distance between them, N is the number of continuous features in the paper’s standardized data, y 0n and in It is a damaged ancient book paper P 0 and paper sample P i The value of the nth continuous feature;

[0064] A4. Perform a weighted sum of the Hamming distance and the Euclidean distance corresponding to each paper sample to obtain the Gower distance corresponding to each paper sample in the paper database. The calculation process of the Gower distance is shown in the following formula (3);

[0065]

[0066] In formula (3), d G (P 0 , P i ) is a damaged ancient book paper P 0 and paper sample P iThe Gower distance between them, N+K is the sum of the number of discrete features after one-hot encoding of the categorical data and the number of continuous features in the standardized data, and w 1 and w 2 is the set weight parameter;

[0067] A5. Sort the Gower distances between various paper samples in the paper database and the damaged ancient book paper by size, and select the paper sample corresponding to the smallest Gower distance as the paper sample that best matches the damaged ancient book paper.

[0068] The main XY motion axis 51 establishes a main coordinate system with the glue pen tip of the glue coating module 53 in the initial state as the origin, and the secondary XY motion axis 52 establishes a secondary coordinate system with the laser spot of the laser module 56 in the initial state as the origin. The main coordinate system and the secondary coordinate system are opposite in the X-axis and Y-axis directions. Δx represents the distance between the origin of the main coordinate system and the origin of the secondary coordinate system in the horizontal direction, and Δy represents the distance between the origin of the main coordinate system and the origin of the secondary coordinate system in the vertical direction. The coordinate point (x slave ,y slave ) is transformed into the coordinate point (x master ,y master ) satisfies the following formula (1):

[0069]

[0070] The relative distances between the center of the vacuum suction cup of the adsorption transfer module 54, the center of the pressing disk of the pressing module 55 and the tip of the glue pen in the X and Y axis directions of the two-dimensional plane are obtained through actual measurement. Based on the relative position relationship between the center of the vacuum suction cup, the center of the pressing disk and the tip of the glue pen, the main XY motion axis 51 is controlled to move to change the two-dimensional plane position of the glue pen, the vacuum suction cup and the pressing disk.

[0071] The parameter information of the restoration actuator in the ancient book restoration plan is in JSON data format and is divided into the following five stages of parameter information:

[0072] B1. Preparation stage: the paper name, paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity, as well as the glue solution configuration ratio parameters;

[0073] B2, laser cutting stage: motion parameters, status and cutting trajectory information of the secondary XY motion axis and laser module;

[0074] B3, hole contour gluing stage: motion parameters, status and gluing trajectory information of the main XY motion axis and gluing module;

[0075] B4, paper filling adsorption transfer stage: motion parameters, status and adsorption transfer trajectory information of the main XY motion axis and adsorption transfer module;

[0076] B5. Pressing and fitting stage: motion parameters, status and pressing trajectory information of the main XY motion axis and pressing module.

[0077] The specific steps of the restoration execution mechanism 5 for performing the ancient book restoration operation are as follows:

[0078] C1, preparation stage: Place the damaged ancient book paper 6 on the ancient book repair platform 58, place the to-be-cut repair paper 7 on the repair paper cutting platform 59, and pour the prepared glue into the glue container, turn on the vortex vacuum adsorption fan for the ancient book repair platform and the vortex vacuum adsorption fan for the repair paper cutting platform through the touch display screen 4, so that the damaged ancient book paper 6 is adsorbed on the ancient book repair platform 58, and the to-be-cut repair paper 7 is adsorbed on the repair paper cutting platform 59, and then start the automatic repair program through the touch display screen 4;

[0079] C2, laser cutting stage: the main control module 3 controls the secondary XY motion axis 52 to switch to the absolute motion mode, and moves to the calibrated initial point of the cutting trajectory at a set speed, and then turns on the laser module 56 to preheat for a certain period of time, and then the main control module 3 controls the secondary XY motion axis 52 to drive the laser module 56 to cut the to-be-cut paper 7 on the paper-filling cutting platform 59 along the cutting trajectory in the M4 dynamic power mode. After the cutting task is completed, the main control module 3 turns off the laser module 56, and the secondary XY motion axis 52 executes the reset command, and the execution progress is displayed in real time on the execution progress display interface of the touch display screen 4;

[0080] C3, hole contour gluing stage: the main control module 3 controls the gluing module 53 to perform the gluing pen tip pre-wetting operation, and then controls the main XY motion axis 51 to switch to the absolute motion mode, and moves to the calibrated initial point of the gluing trajectory at a set speed. The main XY motion axis 51 then drives the gluing module 53 to perform the hole contour gluing operation along the gluing trajectory at a set speed, and the execution progress is displayed in real time on the execution progress display interface of the touch display screen 4; wherein, the calibrated initial point of the gluing coincides with the end point position, the gluing pen produces excess glue here, and the gluing module 53 performs a sucking back operation on the excess glue here;

[0081] C4, paper filling adsorption and transfer stage: the main control module 3 controls the main XY motion axis 51 to move at a set speed, so that the center of the vacuum suction cup of the adsorption transfer module 54 is aligned with the center point of the cut paper filling. The center point of the paper filling is the coordinate of the center point of the paper filling in the secondary coordinate system converted to the corresponding coordinate point in the main coordinate system, that is, the adsorption point of the center of the vacuum suction cup. Then, the vortex vacuum adsorption fan of the paper filling cutting platform is controlled to be closed, and then the vacuum suction cup of the adsorption transfer module 54 is controlled to move down to adsorb the cut paper filling. After that, the main XY motion axis 51 is adjusted according to the set speed. The adsorption transfer module 54 is driven to move at a constant speed according to the motion parameters until the center of the vacuum suction cup coincides with the center point of the damaged area of ​​the damaged ancient book paper 6, and then the vacuum suction cup of the adsorption transfer module 54 is controlled to move downward again to overlap the repair paper with the damaged area of ​​the damaged ancient book paper, and the vacuum suction cup is released from the adsorption function again, and the repair paper is adsorbed on the ancient book repair platform 58 and adhered to the hole coated with glue on the damaged ancient book paper 6, and at the same time, the vacuum suction cup of the adsorption transfer module 54 moves upward and resets, and the execution progress is displayed in real time on the execution progress display interface of the touch display screen;

[0082] C5, pressing and fitting stage: the main control module 3 controls the main XY motion axis 51 to move at a set speed, so that the center of the pressing disk of the pressing module 55 moves to the first pressing coordinate point of the pressing trajectory, and the main XY motion axis 51 drives the pressing module 55 to perform a pressing operation along the pressing trajectory. Each time it moves to a pressing coordinate point, the pressing disk of the pressing module 55 moves downward at a set descending speed to perform a pressing operation. After the pressing is completed, the pressing disk of the pressing module 55 moves up and resets, and the main XY motion axis 51 executes the reset command. The execution progress display interface of the touch display screen 4 displays the completion of the repair in real time.

[0083] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated ancient book restoration system integrating optimal parameter reasoning, characterized in that: It includes an optimal parameter reasoning system, a human-computer interaction module, a main control module and a repair execution mechanism, wherein the optimal parameter reasoning system and the human-computer interaction module are arranged on the upper computer, the main control module is arranged on the lower computer, the human-computer interaction module and the main control module are connected to the optimal parameter reasoning system, and the repair execution mechanism is connected to the signal output end of the main control module; The optimal parameter reasoning system includes a paper database and a parameter reasoning model. The paper information and hole coordinate information of the damaged ancient book are input through the human-computer interaction module, and then the input paper information and hole coordinate information of the damaged ancient book are sent to the parameter reasoning model. The parameter reasoning model compares and analyzes the paper information of the damaged ancient book with the paper sample data stored in the paper database to obtain the paper sample that best matches the paper of the damaged ancient book as the patch paper. Then, the ancient book repair plan is constructed based on the hole coordinate information and the selected patch paper data. The main control module controls various execution modules in the repair execution mechanism to perform ancient book repair operations according to the parameter information of the repair execution mechanism in the generated ancient book repair plan.

2. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 1 is characterized by: The paper information of the damaged ancient books includes paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity information.

3. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 2 is characterized by: The paper sample data stored in the paper database include the paper name, paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity of various paper samples, as well as glue configuration ratio parameters and execution module parameters obtained by performing glue ratio experiments, laser cutting experiments, hole edge glue coating experiments, adsorption transfer experiments and press-fitting experiments on each paper sample; the parameter reasoning model compares and analyzes the paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity information of the damaged ancient book with the paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity of various paper samples stored in the paper database one by one, and obtains the paper sample that best matches the damaged ancient book paper, and then the parameter reasoning model integrates and constructs the ancient book restoration plan according to the hole coordinate information and all paper sample data of this type of paper sample stored in the paper database.

4. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 3 is characterized by: The parameter inference model compares and analyzes the paper information of the damaged ancient book with the paper sample data stored in the paper database, and the specific steps of obtaining the paper sample that best matches the damaged ancient book paper are as follows: A1. Parameter inference model First, the categorized data of damaged ancient book papers and various paper samples, namely paper type and fiber type, are processed by one-hot encoding and converted into numerical vectors; the continuous data, namely paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity, are processed by standard normalization and converted into a normal distribution with a mean of 0 and a standard deviation of 1; A2. For the numerical vector after the classification data conversion, calculate the Hamming distance between the damaged ancient book paper and each paper sample in the paper database. The calculation process of the Hamming distance is shown in the following formula (1); In formula (1), d H (P0,P i ) is the damaged ancient book paper P0 and paper sample P i The Hamming distance between them, K is the number of discrete features after one-hot encoding in the paper classification data, x 0k and x ik They are damaged ancient book paper P0 and paper sample P i When the value of the kth discrete feature is not equal, then (x 0k ≠x ik ) takes 1, otherwise takes 0; A3. For the data after the continuous data standard normalization processing, the Euclidean distance between the damaged ancient book paper and each paper sample in the paper database is calculated. The calculation process of the Euclidean distance is shown in the following formula (2); In formula (2), d O (P0,P i ) is the damaged ancient book paper P0 and paper sample P i The Euclidean distance between them, N is the number of continuous features in the paper’s standardized data, y 0n and in It is the damaged ancient book paper P0 and paper sample P i The value of the nth continuous feature; A4. Perform a weighted sum of the Hamming distance and the Euclidean distance corresponding to each paper sample to obtain the Gower distance corresponding to each paper sample in the paper database. The calculation process of the Gower distance is shown in the following formula (3); In formula (3), d G (P0,P i ) is the damaged ancient book paper P0 and paper sample P i The Gower distance between them, N+K is the sum of the number of discrete features after one-hot encoding of the categorical data and the number of continuous features in the standardized data, and w1 and w2 are the set weight parameters; A5. Sort the Gower distances between various paper samples in the paper database and the damaged ancient book paper by size, and select the paper sample corresponding to the smallest Gower distance as the paper sample that best matches the damaged ancient book paper.

5. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 1 is characterized in that: The repair actuator includes a main XY motion axis, a secondary XY motion axis, a gluing module, an adsorption transfer module and a pressing module arranged at the end of the main XY motion axis, a laser module arranged at the end of the secondary XY motion axis, and a vortex vacuum adsorption fan for the ancient book repair platform and a vortex vacuum adsorption fan for the paper repair and cutting platform.

6. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 5 is characterized by: The parameter information of the repair actuator in the ancient book repair scheme is in JSON data format, which is divided into the following five stages of parameter information: B1. Preparation stage: the paper name, paper type, fiber type, paper thickness, paper whiteness, paper water absorption and paper acidity and alkalinity, as well as the glue solution configuration ratio parameters; B2, laser cutting stage: motion parameters, status and cutting trajectory information of the secondary XY motion axis and laser module; B3, hole contour gluing stage: motion parameters, status and gluing trajectory information of the main XY motion axis and gluing module; B4, paper filling adsorption transfer stage: motion parameters, status and adsorption transfer trajectory information of the main XY motion axis and adsorption transfer module; B5. Pressing and fitting stage: motion parameters, status and pressing trajectory information of the main XY motion axis and pressing module.

7. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 6 is characterized by: The lower computer is also provided with a touch screen connected to the main control module, and the touch screen is used for inputting automatic start and pause control instructions of the repair actuator and displaying the execution progress of each execution module of the repair actuator.

8. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 7 is characterized by: The specific steps of the repair execution mechanism for performing the ancient book repair operation are as follows: C1. Preparation stage: Place the damaged ancient book paper on the ancient book repair platform, place the repair paper to be cut on the repair paper cutting platform, pour the prepared glue into the glue container, turn on the vortex vacuum adsorption fan of the ancient book repair platform and the vortex vacuum adsorption fan of the repair paper cutting platform through the touch screen, so that the damaged ancient book paper is adsorbed on the ancient book repair platform, and the repair paper to be cut is adsorbed on the repair paper cutting platform, and then start the automatic repair program through the touch screen; C2, laser cutting stage: the main control module controls the secondary XY motion axis to switch to the absolute motion mode, and moves to the calibrated initial point of the cutting trajectory at the set speed. Then, after the laser module is turned on and preheated for a certain period of time, the main control module controls the secondary XY motion axis to drive the laser module to cut the paper to be cut on the paper cutting platform along the cutting trajectory in the M4 dynamic power mode. After the cutting task is completed, the main control module turns off the laser module, and the secondary XY motion axis executes the reset command. The laser cutting task is completed, and the execution progress is displayed in real time on the execution progress display interface of the touch screen; C3, hole contour gluing stage: the main control module controls the gluing module to perform the gluing pen tip pre-wetting operation, and then controls the main XY motion axis to switch to the absolute motion mode, and moves to the calibrated initial point of the gluing track at a set speed. The main XY motion axis then drives the gluing module to perform the hole contour gluing operation along the gluing track at a set speed, and the execution progress is displayed in real time on the execution progress display interface of the touch screen; C4, paper repair adsorption and transfer stage: the main control module controls the main XY motion axis to move at a set speed to make the center of the vacuum suction cup of the adsorption transfer module align with the center point of the cut paper repair, and then controls the paper repair cutting platform to use the vortex vacuum adsorption fan to close, and then controls the vacuum suction cup of the adsorption transfer module to move down to adsorb the cut paper repair, and then the main XY motion axis drives the adsorption transfer module to move according to the motion parameters at the set speed until the center of the vacuum suction cup coincides with the center point of the damaged area of ​​the damaged ancient book paper, and then controls the vacuum suction cup of the adsorption transfer module to move down again to overlap the damaged area of ​​the damaged ancient book paper, and then the vacuum suction cup releases the adsorption function, the paper repair is adsorbed on the ancient book repair platform and adheres to the hole after the glue is applied on the damaged ancient book paper, and at the same time the vacuum suction cup of the adsorption transfer module moves up and resets, and the execution progress is displayed in real time on the execution progress display interface of the touch screen; C5, Pressing and fitting stage: The main control module controls the main XY motion axis to move at a set speed, so that the center of the pressing disc of the pressing module moves to the first pressing coordinate point of the pressing trajectory. The main XY motion axis drives the pressing module to perform a pressing operation along the pressing trajectory. Each time it moves to a pressing coordinate point, the pressing disc of the pressing module moves down at a set descending speed to perform a pressing operation. After the pressing is completed, the pressing disc of the pressing module moves up and resets, and the main XY motion axis executes the reset command. The execution progress display interface of the touch screen displays the completion of the repair in real time.

9. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 8 is characterized by: The main XY motion axis establishes a main coordinate system with the glue pen tip of the glue coating module in the initial state as the origin, and the secondary XY motion axis establishes a secondary coordinate system with the laser spot of the laser module in the initial state as the origin. The main coordinate system and the secondary coordinate system are opposite in the X-axis and Y-axis directions. Δx represents the distance between the origin of the main coordinate system and the origin of the secondary coordinate system in the horizontal direction, Δy represents the distance between the origin of the main coordinate system and the origin of the secondary coordinate system in the vertical direction, and the coordinate point (x slave ,y slave ) is transformed into the coordinate point (x master ,y master ) satisfies the following formula (1): The relative distances between the center of the vacuum suction cup of the adsorption transfer module, the center of the pressing disc of the pressing module and the tip of the glue coating pen in the X and Y axis directions of the two-dimensional plane are measured by actual measurement. Based on the relative position relationship between the center of the vacuum suction cup, the center of the pressing disc and the tip of the glue coating pen, the main XY motion axis is controlled to move to change the two-dimensional plane position of the glue coating pen, the vacuum suction cup and the pressing disc. In the paper filling adsorption transfer stage, the center point of the paper filling is the center point of the paper filling in the secondary coordinate system converted to the corresponding coordinate point in the primary coordinate system, that is, the adsorption point of the center of the vacuum suction cup.

10. The ancient book automatic restoration system integrating optimal parameter reasoning according to claim 8 is characterized by: In the hole contour gluing stage, the calibrated initial point of gluing coincides with the end point, the gluing pen produces excess glue at this point, and the gluing module sucks back the excess glue at this point.

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