Full-automatic scanning robot and control method and device used for full-automatic scanning robot

Abstract

The invention relates to the technical field of scanning equipment, and discloses a full-automatic scanning robot and a control method and device.The control method comprises the steps that a scanning device is controlled to scan a to-be-scanned piece located on a scanning table, and a page turning device is controlled to turn pages to be turned of the to-be-scanned piece; in the process that the page turning device turns the to-be-turned page of the to-be-scanned copy, the air blowing assembly is controlled to blow air to the to-be-turned page; and under the condition that the to-be-turned page of the to-be-scanned copy is adhered to the other pages, controlling the paging dialing piece to dial the to-be-turned page so as to separate the to-be-turned page from the other pages. In the page turning process, the air blowing assembly is used for blowing air to the pages to be turned, so that preliminary separation of the pages is achieved, in cooperation with the rotation action of the page separation shifting piece, the adhesion pages of the pieces to be scanned can be effectively separated, the page separation effect of the pages is improved, it is ensured that only one page is turned each time in the automatic page turning process, and the page turning efficiency is improved. And the page turning accuracy is improved.

Description

Technical Field

[0001] The present application relates to the technical field of scanning equipment, for example, to a fully automatic scanning robot and a control method and device therefor. Background Art

[0002] With the rapid development of digital technology, the demand for digitizing paper documents such as books, ancient texts, and archives is increasing. While traditional scanning equipment has made significant progress in image acquisition, it still faces many challenges when processing bound documents such as books. For example, traditional scanning equipment often requires manual page turning, which is inefficient and prone to damage, especially for precious ancient texts and fragile archival materials.

[0003] In the related art, a scanning device with automatic page turning technology is disclosed, which realizes automatic page turning of books during the scanning process through air flow paging and mechanical arm page turning.

[0004] During the implementation of the embodiments of the present disclosure, it was found that at least the following problems exist in the related art:

[0005] In the case where the pages of a book are stuck together, the airflow pagination may not be able to separate the stuck pages accurately, resulting in inaccurate page turning.

[0006] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0007] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical elements or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0008] The disclosed embodiments provide a fully automatic scanning robot and a control method and device therefor, so as to improve the paging effect of book pages and the accuracy of page turning.

[0009] In some embodiments, the fully automatic scanning robot includes a scanning table, a scanning device, a page turning device and a paging assembly, wherein the air outlet of the blowing assembly of the paging assembly faces the scanning table, and the movable end of the paging paddle of the paging assembly can rotate to move the adhered pages of the document to be scanned.

[0010] Optionally, the scanning device includes a first mirror plate, a second mirror plate, a flip mirror and a camera lens, wherein the flip mirror is arranged between the first mirror plate and the second mirror plate and can rotate between a first position corresponding to the first mirror plate and a second position corresponding to the second mirror plate, and the camera lens is arranged above the flip mirror.

[0011] Optionally, the page turning device includes a robotic arm and a vacuum adsorption mechanism, wherein the vacuum adsorption mechanism includes a porous vacuum suction head arranged at the front end of the robotic arm.

[0012] Optionally, the fully automatic scanning robot further includes a lighting device, which is disposed above the scanning platform.

[0013] In some embodiments, a control method for a fully automatic scanning robot includes: controlling a scanning device to scan a document to be scanned located on a scanning platform, and controlling a page-turning device to turn pages to be turned of the document to be scanned; in the process of the page-turning device turning pages to be turned of the document to be scanned, controlling an air blowing component to blow air on the pages to be turned; in the event that the pages to be turned of the document to be scanned are stuck to other pages, controlling a paging paddle to move the pages to be turned to separate the pages to be turned from other pages.

[0014] Optionally, controlling the blowing component to blow air on the pages to be turned includes: determining the airflow intensity and direction of the blowing component according to the material and state of the pages to be turned; when the pages to be turned of the scanned document are stuck to other pages, increasing the airflow intensity of the blowing component and adjusting the airflow direction.

[0015] Optionally, controlling the paging paddle to turn the page to be turned includes: adjusting the rotation angle, speed and force of the paging paddle according to the material and state of the page to be turned; and / or controlling the turning frequency of the paging paddle according to the page turning frequency of the page turning device; and / or controlling the paging paddle to turn multiple times according to the adhesion between the page to be turned and other pages.

[0016] Optionally, controlling the scanning device to scan the workpiece to be scanned on the scanning platform includes: controlling the flip mirror to be in a first position, and the camera lens performs a matrix CCD point-to-point scan on the first page to be scanned on the second platform of the scanning platform through the flip mirror and the first mirror plate; and controlling the flip mirror to be in a second position, and the camera lens performs a matrix CCD point-to-point scan on the second page to be scanned on the first platform of the scanning platform through the flip mirror and the second mirror plate.

[0017] Optionally, controlling the page turning device to turn the pages to be turned of the scanned document includes: adjusting the adsorption force of the porous vacuum suction head according to the material and state of the pages to be turned; after the porous vacuum suction head adsorbs the pages to be turned, rotating the mechanical arm to turn the pages to be turned.

[0018] Optionally, the control method for the fully automatic scanning robot also includes: obtaining the material information of the book page of the document to be scanned; the material information of the book page includes one or more of paper type, paper thickness and paper color; and determining the brightness and / or color temperature of the lighting equipment based on the material information of the book page of the document to be scanned.

[0019] Optionally, the brightness and / or color temperature of the lighting equipment is determined based on the material information of the book pages to be scanned, including: determining the initial brightness and / or initial color temperature of the lighting equipment based on the paper type of the document to be scanned; and adjusting the initial brightness and / or initial color temperature based on the paper color and paper thickness of the document to be scanned.

[0020] Optionally, the control method for the fully automatic scanning robot further includes: during the scanning process, adjusting the spine position of the to-be-scanned document according to the thickness of the scanned pages and the thickness of the unscanned pages on the scanning table.

[0021] In some embodiments, a control device for a fully automatic scanning robot includes a processor and a memory storing program instructions, and the processor is configured to execute the control method for the fully automatic scanning robot as described above when running the program instructions.

[0022] In some embodiments, the fully automatic scanning robot includes: a fully automatic scanning robot body; and the control device for the fully automatic scanning robot as described above, which is installed on the fully automatic scanning robot body.

[0023] The fully automatic scanning robot and the control method and device therefor provided by the embodiments of the present disclosure can achieve the following technical effects:

[0024] In the disclosed embodiment, a fully automatic scanning robot includes a scanning platform, a scanning device, an air blowing assembly, and a paging paddle. The paging device is controlled to automatically turn pages, and the scanning device is synchronously controlled to scan during the turning process. During the turning process, the air blowing assembly is used to blow air on the pages to be turned, thereby achieving initial separation of the pages. Combined with the rotation of the paging paddle, it can effectively separate the pages of the document to be scanned, improving the paging effect of the pages. During the automatic turning process, only one page is turned at a time, improving the accuracy of the page turning.

[0025] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] One or more embodiments are exemplarily described by corresponding drawings. These exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a scale limitation. In addition,

[0027] Figure 1 Schematic diagram of the structure of a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0028] Figure 2This is a schematic structural diagram of a scanning platform in a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0029] Figure 3 This is a structural diagram of a paging pick in a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0030] Figure 4 This is a schematic structural diagram of a scanning device in a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0031] Figure 5 This is a structural diagram of a page turning device in a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0032] Figure 6 This is a schematic structural diagram of a butterfly clamp in a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0033] Figure 7 is a schematic diagram of a control method for a fully automatic scanning robot provided by an embodiment of the present disclosure;

[0034] Figure 8 This is a schematic diagram of a control device for a fully automatic scanning robot provided by an embodiment of the present disclosure.

[0035] Figure numerals: 10, scanning platform; 20, scanning device; 30, blowing assembly; 40, paging paddle; 50, page turning device; 60, butterfly clip; 70, paging assembly; 11, first platform; 12, second platform; 41, fixed end; 42, mobile end; 21, first mirror plate; 22, second mirror plate; 23, flip mirror; 24, camera lens; 51, robotic arm; 52, vacuum adsorption mechanism; 61, first clamp; 62, second clamp; 800, control device for fully automatic scanning robot; 801, processor; 802, memory; 803, communication interface; 804, bus. DETAILED DESCRIPTION

[0036] In order to be able to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The accompanying drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0037] The terms "first," "second," and the like in the technical solutions described herein are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to facilitate the description of the embodiments of the present disclosure herein. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0038] Unless otherwise stated, the term "plurality" means two or more.

[0039] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0040] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0041] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0042] Combine Figure 1 As shown, the embodiment of the present disclosure provides a fully automatic scanning robot, comprising a scanning platform 10, a scanning device 20, a page turning device 50, and a paging assembly 70. The air outlet of the blowing assembly 30 of the paging assembly 70 faces the scanning platform 10, and the paging paddle 40 of the paging assembly 70 can rotate to move the stuck pages of the document to be scanned.

[0043] In the disclosed embodiment, the page turning mechanism 50 is controlled to automatically turn pages, and the scanning mechanism 20 is simultaneously controlled to scan during the turning process. The air outlet of the blowing assembly 30 is directed toward the scanning platform 10, blowing air to the pages to be turned, thereby achieving a preliminary separation of the pages. Combined with the rotation of the paging paddle 40, this effectively separates stuck pages of the scanned document, improving the paging effect. During the automatic turning process, only one page is turned at a time, improving page turning accuracy.

[0044] Optionally, combined Figure 2 As shown, the scanning platform 10 includes a first platform 11 and a second platform 12 forming a V-shaped structure. The first platform 11 is a fixed platform for the document to be scanned, and the second platform 12 is a page turning platform for the document to be scanned.

[0045] In this embodiment, the scanning platform 10 adopts an ergonomic V-shaped design. The angle between the first platform 11 and the second platform 12 has been scientifically calculated to precisely correspond to the optimal mechanical opening angle for reading a book flat on the table. The design of the scanning platform 10 ensures scanning accuracy while effectively protecting the book binding structure. By distributing pressure from the book spine at a strategic angle, it achieves both lossless scanning of ancient books and stable support for modern hardcover books, achieving a balance between operational efficiency and document protection.

[0046] Optionally, the angle between the first platform 11 and the second platform 12 is in the range of [105°, 115°]. More specifically, the angle between the first platform 11 and the second platform 12 is 105°, 107°, 110°, 112°, or 115°.

[0047] Optionally, the scanning device 20 is disposed above the scanning platform 10 .

[0048] Optionally, the air outlet of the blowing assembly 30 faces the second platform 12 .

[0049] Optionally, combined Figure 3 As shown, the paging paddle 40 includes a fixed end 41, a movable end 42, and a drive motor (not shown). The fixed end 41 is disposed on the side of the second platform 12. The movable end 42 can rotate about the fixed end 41 to move the adhered pages of the document to be scanned. The drive motor is connected to the movable end 42 to drive the movable end 42 to rotate.

[0050] In this embodiment, the movable end 42 of the paging paddle 40 is capable of rotating about the fixed end 41, achieving automated paging. A drive motor connected to the movable end 42 precisely controls the rotation angle and speed of the paging paddle 40, ensuring accuracy and consistency in each paging action and reducing scanning errors or duplicate scans caused by inaccurate paging.

[0051] Optionally, the fixed end 41 of the paging paddle 40 can be moved along the side of the second platform 12. In this way, the position of the paging paddle 40 can be adjusted according to different documents to be scanned, thereby achieving a better paging effect.

[0052] Optionally, the movable end 42 of the paging paddle 40 is made of a flexible material. This can reduce damage to the scanned document, especially for fragile ancient books and precious documents. The flexible paddle can provide a gentle force when contacting the page, avoiding scratching or tearing the page.

[0053] Optionally, the driving motor can adjust the rotation speed and force of the moving end 42 according to the material and thickness of the document to be scanned. In this way, it can be ensured that when processing different types of books, the paging paddle 40 can be operated with appropriate force, further protecting the document to be scanned.

[0054] Optionally, the width of the paging paddle 40 gradually increases from the fixed end 41 to the movable end 42 ; and / or, a hollow area is provided on the paging paddle 40 .

[0055] In this embodiment, the width of the paging paddle 40 gradually increases from the fixed end 41 to the movable end 42, so that the paging paddle 40 can better adapt to pages of different thicknesses when contacting the book. The wider movable end 42 can provide a larger contact area, thereby applying a more uniform force during paging, improving the paging stability, and reducing page tearing or damage caused by uneven force. The hollow area on the paging paddle 40 can reduce its overall weight, thereby reducing the inertia of the paging paddle 40 during rotation and improving the sensitivity and accuracy of the paging action. The hollow area can also optimize the airflow distribution of the blowing assembly 30, so that the airflow can act on the pages more evenly, helping to better separate stuck pages and improve the success rate of paging, especially when dealing with thinner or slippery paper.

[0056] Optionally, the thickness of the paging paddle 40 gradually decreases from the fixed end 41 to the movable end 42 .

[0057] In this embodiment, the thickness of the paging paddle 40 gradually decreases from the fixed end 41 to the movable end 42, allowing the paging paddle 40 to better adapt to different paper materials when contacting the pages. The thinner movable end 42 can more flexibly move thin or fragile paper, and can apply force more gently when contacting the pages, reducing direct impact on the pages and reducing page damage caused by excessively thick paddles.

[0058] Optionally, the air outlet of the blowing component 30 is in the shape of a long strip; and / or, the blowing component 30 is disposed on the front and rear sides of the second platform 12, and the blowing component 30 is movable to adjust the blowing position.

[0059] In this embodiment, the elongated air outlet provides a more even airflow distribution, allowing the airflow to more evenly affect the pages of the document being scanned, helping to better separate stuck pages and reducing paging failures or page damage caused by uneven airflow. The blowing assembly 30 can also flexibly adjust the blowing position based on the size and shape of the document being scanned, ensuring that the airflow precisely affects the pages to be separated, thereby improving the success rate of paging. For example, for thicker books, the blowing assembly 30 can be moved closer to the spine to better separate the pages.

[0060] Optionally, the blowing assembly 30 can adjust the airflow intensity according to different page materials, so as to ensure that the best paging effect can be achieved on pages of different materials.

[0061] Optionally, combined Figure 4As shown, the scanning device 20 includes a first mirror plate 21, a second mirror plate 22, a flip mirror 23, and a camera lens 24. The first mirror plate 21 is positioned above the first platform 11, corresponding to the second platform 12. The second mirror plate 22 is positioned above the second platform 12, corresponding to the first platform 11. The flip mirror 23 is positioned between the first and second mirror plates 21, 22 and is rotatable between a first position corresponding to the first mirror plate 21 and a second position corresponding to the second mirror plate 22. The camera lens 24 is positioned above the flip mirror 23 and is capable of capturing an image of the scanned object through the flip mirror 23, the first and second mirror plates 21, 22.

[0062] In this embodiment, the layout of the first mirror plate 21 and the second mirror plate 22 ensures that the scanning device 20 can simultaneously scan two platforms, improving scanning efficiency. The two mirror plates correspond to different platforms, allowing the scanning device 20 to flexibly handle single-page or dual-page scanning tasks. By controlling the flip mirror 23, the scanning device 20 can quickly switch scanning areas without moving the scanning device 20 or the scanned document, improving scanning efficiency and flexibility.

[0063] Optionally, combined Figure 1 and Figure 5 As shown, the fully automatic scanning robot further includes a page turning device 50. The page turning device 50 includes a mechanical arm 51 and a vacuum adsorption mechanism 52. The mechanical arm 51 is arranged on the side of the middle of the scanning platform 10, and the vacuum adsorption mechanism 52 includes a porous vacuum suction head arranged at the front end of the mechanical arm 51.

[0064] In this embodiment, the robotic arm 51 can rotate to various positions on the scanning platform 10, ensuring flexibility and accuracy in page turning. The porous vacuum suction head of the vacuum suction mechanism 52 can provide uniform suction force, reducing damage to the page caused by excessive local suction, and ensuring gentle handling of the scanned document during the page turning process. The coordinated operation of the robotic arm 51 and the vacuum suction mechanism 52 enables efficient and automated page turning operations. After the robotic arm 51 moves to the correct position, the vacuum suction mechanism 52 can absorb and turn the page. The coordinated operation of the two ensures the smoothness and accuracy of the page turning process.

[0065] Optionally, the multiple vacuum suction heads in the multi-hole vacuum suction head are distributed in a matrix.

[0066] Optionally, the total area of the porous vacuum suction head is greater than or equal to 7 cm×15 cm.

[0067] Optionally, the number of vacuum suction heads in the multi-hole vacuum suction head is greater than or equal to 40.

[0068] Optionally, two suction skirts are provided on each of the four sides of the vacuum suction mechanism 52. As the vacuum suction mechanism 52 lowers and contacts the book pages, the suction skirts droop, forming a vacuum wrap. These skirts automatically and gently wrap around the pages before the suction cups contact them. This suction skirt technology allows the porous vacuum head to lift the paper with minimal suction force, minimizing damage. Furthermore, the suction force of the porous vacuum head is adjustable, allowing even fragile ancient books to be turned with a gentle touch.

[0069] Optionally, combined Figure 1 and Figure 6 As shown, the fully automatic scanning robot further includes a butterfly clamp 60. The butterfly clamp 60 includes a first clamping plate 61 and a second clamping plate 62 that are symmetrically arranged. The first clamping plate 61 and the second clamping plate 62 can press against the first platform 11 and the second platform 12 respectively.

[0070] In this embodiment, the butterfly clip 60 is composed of a left-right symmetrical first clamp 61 and a second clamp 62 assembled through a hinge system, and the overall shape is like a bionic butterfly. The butterfly clip 60 adopts a double-wing flattening mechanism design, which realizes the page flattening function of the scanned document through the principle of elastic mechanics. The first clamp 61 and the second clamp 62 can accurately fit the spine curve of the scanned document, and the first clamp 61 and the second clamp 62 can be aligned with the spine curve of the scanned document during the scanning process. Figure 6 Apply uniform pressure to the unfolded pages in the direction of the middle arrow. The pressure can be adjusted according to the condition of the book. This can eliminate the surface distortion caused by binding of the book, ensure that the scanned image has no optical deformation, effectively suppress the page rebound phenomenon, and ensure the stability of continuous scanning.

[0071] Optionally, there are two groups of butterfly clips 60 , which are respectively disposed at the front and rear ends of the scanning platform 10 .

[0072] Optionally, the first clamping plate 61 and the second clamping plate 62 cover a range of 0 to 20 mm on both sides of the book binding line.

[0073] Compared to traditional full-width glass book pressing devices, this embodiment utilizes a compound pressure mode. Based on biomechanical calculations, the contact area between the first and second clamps 61, 62 and the book is optimized, minimizing pressure loss on the book. While maintaining a flattening effect, mechanical pressure can be minimized to minimize damage to paper fibers, making it particularly suitable for digitizing fragile ancient books, archives, and other valuable materials.

[0074] Optionally, the fully automatic scanning robot further comprises: a lighting device (not shown in the figure). The lighting device is arranged above the scanning platform 10 .

[0075] In this embodiment, the lighting equipment is arranged above the scanning platform 10 to ensure that light is evenly irradiated on the surface of the document to be scanned, providing optimal lighting conditions. The lighting equipment can adjust the brightness and color temperature according to the material and color of the document to be scanned. For example, for ordinary paper books, general brightness and color temperature can be used; for coated paper books, the brightness can be lowered and the color temperature can be increased to reduce reflections; for ancient rare books, a soft warm yellow light can be used to protect the book and present a better scanning effect. By adjusting the brightness and color temperature, the lighting equipment can ensure that the color and contrast of the scanned image are more realistic and accurate, allowing the fully automatic scanning robot to adapt to various types of documents to be scanned and improve the quality of the scanned image.

[0076] Optionally, the lighting device uses an LED light source.

[0077] Optionally, the fully automatic scanning robot further includes a page edge sensor (not shown) provided on the robotic arm 51. The page edge sensor can detect and analyze the light transmittance of the page, thereby determining whether the page adsorbed by the robotic arm 51 is a single page or multiple pages.

[0078] Optionally, the fully automatic scanning robot further includes laser eyes (not shown in the figure) disposed on both sides of the page edge sensor. The laser eyes can detect whether a page is attracted by the robotic arm 51.

[0079] Based on the above-mentioned fully automatic scanning robot, combined with Figure 7 As shown, the embodiment of the present disclosure provides a control method for a fully automatic scanning robot. The execution subject of the method may be a processor provided in the fully automatic scanning robot. The control method includes:

[0080] S701: The processor controls the scanning device to scan the document to be scanned on the scanning platform, and controls the page turning device to turn the pages to be turned of the document to be scanned.

[0081] S702: When the page turning device turns the pages of the scanned document, the processor controls the blowing component to blow air on the pages to be turned.

[0082] S703 : When the page to be turned of the document to be scanned is stuck to other pages, the processor controls the paging paddle to move the page to be turned so as to separate the page to be turned from the other pages.

[0083] In the disclosed embodiment, the page turning device automatically turns pages, and the scanning device is simultaneously controlled to scan during the turning process. During the turning process, the blowing assembly is used to blow air on the pages to be turned, thereby achieving a preliminary separation of the pages. Combined with the rotation of the paging paddle, it can effectively separate the stuck pages of the scanned document and improve the paging effect. This ensures that only one page is turned at a time during the automatic turning process, improving the accuracy of the page turning.

[0084] Optionally, after the document to be scanned is placed on the scanning platform, the first and second clamping plates of the butterfly clip are controlled to press against the unfolded pages of the document to be scanned to fix the document to be scanned.

[0085] Optionally, controlling the blowing component to blow air on the pages to be turned includes: determining the airflow intensity and direction of the blowing component according to the material and state of the pages to be turned; when the pages to be turned of the scanned document are stuck to other pages, increasing the airflow intensity of the blowing component and adjusting the airflow direction.

[0086] In this embodiment, a sensor assembly positioned near the scanning station can detect the material and condition of the page to be turned. For example, various data such as the color, texture, optical properties, thickness, hardness, humidity, and image recognition results of the page to be turned can be detected. Based on the information obtained by the sensor, the material and condition of the page to be turned can be determined, and then the airflow intensity and direction of the blowing assembly can be determined using a preset intelligent algorithm. The preset intelligent algorithm can be implemented using preset rules. For example, for ordinary paper, the airflow intensity is moderate (30% to 50%), and the airflow direction is at an angle of 15° to 25° to the page surface; for smooth paper, the airflow intensity is high (50% to 70%), and the airflow direction is at an angle of 20° to 30° to the page surface; for fragile paper, the airflow intensity is low (20% to 40%), and the airflow direction is at an angle of 10° to 20° to the page surface. In addition, when the page to be turned is stuck to other pages, the airflow intensity of the blowing component is appropriately increased, for example, by 5% to 10%, and the airflow direction is adjusted to be perpendicular to the thickness direction of the page, so as to better separate the stuck pages while reducing damage to the scanned document.

[0087] Optionally, controlling the paging paddle to turn the page to be turned includes: adjusting the rotation angle, speed and force of the paging paddle according to the material and state of the page to be turned; and / or controlling the turning frequency of the paging paddle according to the page turning frequency of the page turning device; and / or controlling the paging paddle to turn multiple times according to the adhesion between the page to be turned and other pages.

[0088] In this embodiment, the rotation angle, speed, and force of the paging paddle can be determined by a preset intelligent algorithm based on the material and state of the page to be turned. The preset intelligent algorithm can be implemented by preset rules. For example, for ordinary paper, the rotation angle is 20° to 45°, the speed is 0.8 to 1 times / second, and the force is moderate; for smooth paper, the rotation angle is 30° to 50°, the speed is 0.6 to 1 times / second, and the force is relatively light; for fragile paper, the rotation angle is 10° to 30°, the speed is 0.4 to 0.6 times / second, and the force is extremely light. According to the page turning frequency of the page turning device, the toggling frequency of the paging paddle is adjusted to ensure that the movement of the paging paddle is synchronized with the movement of the page turning device. In addition, according to the adhesion between the page to be turned and other pages, the paging paddle is controlled to be toggled multiple times to achieve rapid separation of the adhered pages.

[0089] Optionally, the paging frequency of the paging paddle can be controlled according to the following formula:

[0090] f1=min(max(k×f0,f min ), f max )

[0091] Among them, f1 is the frequency of the paging paddle, f0 is the frequency of the page turning device, k is the proportional coefficient, f min is the minimum frequency of the paging paddle, f max The maximum frequency of the paging paddle.

[0092] Optionally, the value range of k is [1, 2].

[0093] In this embodiment, the paging paddle's toggle frequency is related to the page turning frequency of the page turning device. A minimum and maximum toggle frequency are set for the paging paddle to ensure that the paging paddle can still work effectively at low page turning frequencies and to prevent the paging paddle from overworking at high page turning frequencies.

[0094] Optionally, controlling the scanning device to scan the document to be scanned on the scanning platform includes: controlling the flip mirror to be in a first position, and the camera lens performs a matrix CCD (Charge-Coupled Device) point-to-point scanning on the first page to be scanned on the second platform of the scanning platform through the flip mirror and the first mirror plate; and controlling the flip mirror to be in a second position, and the camera lens performs a matrix CCD point-to-point scanning on the second page to be scanned on the first platform of the scanning platform through the flip mirror and the second mirror plate.

[0095] In this embodiment, when the flip mirror is in the first position, the flip mirror is opposite the first mirror plate, and through light reflection, the camera lens can scan the first page to be scanned on the second platform. When the flip mirror is in the second position, the flip mirror is opposite the second mirror plate, and through light reflection, the camera lens can scan the second page to be scanned on the first platform. Simply by controlling the movement of the flip mirror, switching scanning between the first and second platforms can be achieved, thereby improving scanning efficiency. In addition, the matrix CCD point-to-point scanning technology integrates optics, lenses, light sources, and software through a matrix CCD processor. This not only retains the high-speed acquisition characteristics of an area array processor, but also solves the problem of fisheye effect and image deformation on all sides when using an ordinary area array processor. Through point-to-point image scanning technology, the image is captured in one go with zero distortion and no deformation, thereby improving scanning quality and efficiency.

[0096] Optionally, controlling the page turning device to turn the pages to be turned of the scanned document includes: adjusting the adsorption force of the porous vacuum suction head according to the material and state of the pages to be turned; after the porous vacuum suction head adsorbs the pages to be turned, rotating the mechanical arm to turn the pages to be turned.

[0097] In this embodiment, the suction force of the porous vacuum suction head can be determined based on the material and state of the page to be turned using a preset intelligent algorithm. The preset intelligent algorithm can be implemented using preset rules. For example, for ordinary paper, the suction force is set to a medium intensity (vacuum pressure value of 40% to 60%); for smooth paper, the suction force is set to a lower intensity (vacuum pressure value of 30% to 40%); and for fragile paper, the suction force is set to an extremely low intensity (vacuum pressure value of 20%-30%). The suction force can be automatically adjusted according to the different material and state of the page, which can reduce damage to the page to be turned. After the porous vacuum suction head absorbs the page to be turned, the robot arm is controlled to rotate to turn the page to be turned. The rotation path of the robot arm can be a preset parabolic path to ensure the smoothness and accuracy of the page turning process.

[0098] Optionally, the page turning frequency is related to the scanning speed. The scanning speed ranges from 1300 to 3300 pages per hour. More specifically, the scanning speed is 1300 pages per hour, 1600 pages per hour, 1800 pages per hour, 2300 pages per hour, or 3300 pages per hour.

[0099] Optionally, the control method also includes: obtaining the material information of the book page of the document to be scanned; the material information of the book page includes one or more of paper type, paper thickness and paper color; and determining the brightness and / or color temperature of the lighting equipment based on the material information of the book page of the document to be scanned.

[0100] In this embodiment, the brightness and color temperature of the lighting device are adjusted based on the material of the book page to ensure the clarity and accuracy of the scanned image. For example, for smooth paper, appropriately lowering the brightness and raising the color temperature can reduce reflections and ensure vivid colors in the image. For ancient books, lowering the brightness and warming the color temperature can reduce damage to the paper and create a more ancient atmosphere.

[0101] Optionally, the brightness and / or color temperature of the lighting equipment is determined based on the material information of the book pages to be scanned, including: determining the initial brightness and / or initial color temperature of the lighting equipment based on the paper type of the document to be scanned; and adjusting the initial brightness and / or initial color temperature based on the paper color and paper thickness of the document to be scanned.

[0102] Optionally, for ordinary paper books, the initial brightness setting range of the lighting device is [50%, 70%]. More specifically, the initial brightness of the lighting device is set to 50%, 55%, 60%, 65%, or 70%. This can prevent glare caused by excessive light or unclear text caused by excessive light.

[0103] Optionally, for ordinary paper books, the initial color temperature setting range of the lighting device is [4000K, 5000K]. More specifically, the initial color temperature of the lighting device is set to 4000K, 4200K, 4400K, 4600K, 4800K, or 5000K. Warm white light within this color temperature range is close to natural light, allowing text and images to display more realistic colors and contrast.

[0104] Optionally, for coated paper books, the initial brightness setting range of the lighting device is [30%, 50%]. More specifically, the initial brightness of the lighting device is set to 30%, 35%, 40%, 45%, or 50%. Since coated paper has a smooth surface and strong reflectivity, the brightness of the light source should be appropriately reduced.

[0105] Optionally, for coated paper books, the initial color temperature setting range of the lighting device is [5000K, 6000K]. More specifically, the initial color temperature of the lighting device is set to 5000K, 5200K, 5400K, 5600K, 5800K, or 6000K. By increasing the color temperature, you can reduce glare and make the scanned image more vivid and more saturated.

[0106] Optionally, for rare and ancient books, the initial brightness setting range for the lighting device is [40%, 60%]. More specifically, the initial brightness of the lighting device is set to 40%, 45%, 50%, 55%, or 60%. Because rare and ancient books are often very old, the paper may have yellowed and become brittle. To protect the books and achieve good scanning results, the light source brightness should not be too high.

[0107] Optionally, for rare ancient books, the initial color temperature setting range of the lighting device is [3000K, 4000K]. More specifically, the initial color temperature of the lighting device is set to 3000K, 3200K, 3400K, 3600K, 3800K, or 4000K. Warm yellow light within this color temperature range can create a rustic atmosphere while also reducing eye irritation.

[0108] Optionally, for a color album, the initial brightness setting range of the lighting device is [50%, 70%]. More specifically, the initial brightness of the lighting device is set to 50%, 55%, 60%, 65%, or 70%. Selecting a moderate light source brightness can accurately restore the colors in the album.

[0109] Optionally, for color albums, the initial color temperature setting range of the lighting device is [5000K, 6500K]. More specifically, the initial color temperature of the lighting device is set to 5000K, 5200K, 5400K, 5600K, 5800K, 6000K, 6200K, 6400K, or 6500K. This color temperature range is close to the color temperature of natural light, making the scanned image colors more accurate and vivid.

[0110] Optionally, the initial brightness and / or initial color temperature are adjusted according to the paper color and paper thickness of the document to be scanned, including: using intelligent algorithms and machine learning technology to automatically optimize the initial brightness and / or initial color temperature of the lighting equipment based on historical data and real-time feedback information.

[0111] In this example, by collecting data on light brightness and color temperature for different paper colors and thicknesses, as well as scanned image quality data, a model is trained using machine learning algorithms (such as support vector machines, random forests, and convolutional neural networks) to predict the optimal light brightness and color temperature for different paper colors and thicknesses. During the scanning process, the trained model is used to dynamically adjust the initial brightness and color temperature of the lighting device based on real-time feedback to ensure scanned image quality.

[0112] Optionally, the control method further includes: during the scanning process, adjusting the spine position of the to-be-scanned document according to the thickness of scanned pages and the thickness of unscanned pages on the scanning platform.

[0113] In this embodiment, during the scanning process, the thickness of the scanned pages on the first platform will gradually increase, and the thickness of the unscanned pages on the second platform will gradually decrease. At this time, it is necessary to adjust the spine position of the to-be-scanned document to adjust the position of the to-be-scanned document and improve the scanning effect.

[0114] Optionally, the control method further includes: before turning the page, controlling the first clamp and the second clamp of the butterfly clip to lift up to turn the page.

[0115] Optionally, the control method further includes: after the page is turned, controlling the first and second clamps of the butterfly clamp to press against the unfolded pages of the document to be scanned to fix the document to be scanned. In this way, the pages can be prevented from rebounding and the unfolded pages of the document to be scanned can be kept flat.

[0116] Combine Figure 8 As shown, an embodiment of the present disclosure provides a control device 800 for a fully automatic scanning robot, including a processor 801 and a memory 802. Optionally, the device may also include a communication interface 803 and a bus 804. The processor 801, the communication interface 803, and the memory 802 may communicate with each other via the bus 804. The communication interface 803 may be used for information transmission. The processor 801 may call the logic instructions in the memory 802 to execute the control method for the fully automatic scanning robot of the above embodiment.

[0117] In addition, the logic instructions in the memory 802 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0118] Memory 802, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as the program instructions / modules corresponding to the methods in the embodiments of the present disclosure. Processor 801 executes the program instructions / modules stored in memory 802 to perform functional applications and data processing, thereby implementing the control method for the fully automatic scanning robot in the above-mentioned embodiments.

[0119] The memory 802 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Furthermore, the memory 802 may include high-speed random access memory and non-volatile memory.

[0120] The fully automatic scanning robot provided by the embodiment of the present disclosure also includes: a fully automatic scanning robot body, and the above-mentioned control device for the fully automatic scanning robot. The control device for the fully automatic scanning robot is installed on the fully automatic scanning robot body. The installation relationship described here is not limited to placement inside the fully automatic scanning robot, but also includes installation connections with other components of the fully automatic scanning robot, including but not limited to physical connections, electrical connections or signal transmission connections. It can be understood by those skilled in the art that the control device for the fully automatic scanning robot can be adapted to a feasible fully automatic scanning robot body, thereby realizing other feasible embodiments.

[0121] An embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the above-mentioned control method for a fully automatic scanning robot.

[0122] The technical solutions of the embodiments of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present disclosure. The aforementioned storage medium may be a non-transitory storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other media that can store program code.

[0123] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments only represent possible variations. Unless explicitly required, separate components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the technical solutions described in this application. As used in the technical solutions described in this application, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to also include plural forms. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of one or more associated listings. In addition, when used in this application, the term "comprise" and its variations "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, an element defined by the sentence "comprising a..." does not exclude the presence of other identical elements in the process, method or device that includes the element. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments can be referenced to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can be found in the description of the method part.

[0124] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. The technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. The technicians will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0125] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units can be merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, and can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. In addition, the functional units in the embodiments of the present disclosure may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0126] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in an order different from that disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A control method for a fully automatic scanning robot, characterized in that: The fully automatic scanning robot includes a scanning platform, a scanning device, a page turning device, and a paging assembly. The air outlet of the blowing assembly of the paging assembly faces the scanning platform, and the paging paddle of the paging assembly can rotate to move the stuck pages of the document to be scanned. The control method includes: Controlling the scanning device to scan the document to be scanned on the scanning table, and controlling the page turning device to turn the pages to be turned of the document to be scanned; When the page turning device turns the pages of the scanned document to be turned, the blowing component is controlled to blow air on the pages to be turned; When the page to be turned of the document to be scanned is stuck to other pages, the paging paddle is controlled to paddle the page to be turned so as to separate the page to be turned from the other pages.

2. The control method according to claim 1, characterized in that: Controlling the blowing component to blow air to the pages to be turned includes: Determine the airflow intensity and direction of the blowing component according to the material and state of the pages to be turned; When the page to be turned of the document to be scanned is stuck to other pages, the airflow intensity of the blowing component is increased and the airflow direction is adjusted.

3. The control method according to claim 1, wherein: Control the paging paddle to turn the page to be turned, including: Adjust the rotation angle, speed and force of the paging paddle according to the material and state of the page to be turned; and / or, Controlling the frequency of the paging paddle according to the page turning frequency of the page turning device; and / or, According to the adhesion between the page to be turned and other pages, the paging paddle is controlled to be turned multiple times.

4. The control method according to claim 1, wherein: The scanning device includes a first mirror plate, a second mirror plate, a flip mirror, and a camera lens, wherein the flip mirror is disposed between the first mirror plate and the second mirror plate and is capable of rotating between a first position corresponding to the first mirror plate and a second position corresponding to the second mirror plate, and the camera lens is disposed above the flip mirror; controlling the scanning device to scan a workpiece to be scanned on a scanning platform includes: Controlling the flip mirror to be in a first position, the camera lens performs matrix CCD point-to-point scanning on the first page to be scanned on the second platform of the scanning platform through the flip mirror and the first mirror plate; and, The flip mirror is controlled to be in the second position, and the camera lens performs matrix CCD point-to-point scanning on the second page to be scanned on the first platform of the scanning platform through the flip mirror and the second mirror plate.

5. The control method according to claim 1, characterized in that: The page turning device includes a mechanical arm and a vacuum adsorption mechanism, wherein the vacuum adsorption mechanism includes a porous vacuum suction head provided at the front end of the mechanical arm; controlling the page turning device to turn the pages of the scanned document to be turned includes: Adjust the suction force of the porous vacuum head according to the material and state of the pages to be turned; After the porous vacuum suction head absorbs the page to be turned, the robotic arm rotates to turn the page to be turned.

6. The control method according to claim 1, characterized in that: The fully automatic scanning robot also includes a lighting device, which is arranged above the scanning platform; the control method also includes: Obtaining material information of the book page to be scanned; the material information of the book page includes one or more of paper type, paper thickness, and paper color; Determine the brightness and / or color temperature of the lighting equipment based on the material information of the book pages to be scanned.

7. The control method according to claim 6, characterized in that: Determine the brightness and / or color temperature of the lighting equipment based on the material information of the book pages to be scanned, including: Determine the initial brightness and / or initial color temperature of the lighting device according to the paper type to be scanned; Adjust the initial brightness and / or initial color temperature based on the color and thickness of the paper to be scanned.

8. The control method according to any one of claims 1 to 7, characterized in that: Also includes: During the scanning process, the spine position of the document to be scanned is adjusted according to the thickness of the scanned pages and the thickness of the unscanned pages on the scanning table.

9. A control device for a fully automatic scanning robot, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to execute the control method for a fully automatic scanning robot according to any one of claims 1 to 8 when running the program instructions.

10. A fully automatic scanning robot, characterized in that: include: The fully automatic scanning robot body includes a scanning platform, a scanning device, a page turning device, and a paging assembly. The air outlet of the blowing assembly of the paging assembly faces the scanning platform, and the movable end of the paging paddle of the paging assembly can rotate to move the stuck pages of the document to be scanned. The control device for a fully automatic scanning robot according to claim 9 is installed on the body of the fully automatic scanning robot.

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