Full-automatic scanning robot and scanning equipment

Abstract

The utility model relates to the technical field of scanning devices, and discloses a full-automatic scanning robot and a scanning device.The full-automatic scanning robot comprises a scanning table which comprises a first platform and a second platform which form a V-shaped structure, the first platform is a fixing platform of a to-be-scanned piece, and the second platform is a page turning platform of the to-be-scanned piece; the scanning device is arranged above the scanning table; an air outlet of the air blowing assembly faces the second platform; and the paging shifting piece can rotate so as to shift the adhesion page of the to-be-scanned piece. An air outlet of the air blowing assembly faces the second platform and is used for blowing air to the to-be-turned pages, so that the pages are preliminarily separated, and in cooperation with the rotating action of the paging shifting piece, the adhesion pages of the to-be-scanned pieces can be effectively separated, the paging effect of the pages is improved, and therefore it is ensured that only one page is turned every 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] This application relates to the field of scanning equipment technology, such as a fully automated scanning robot and scanning equipment. Background Technology

[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 typically requires manual page turning, which is inefficient and easily damages books, especially precious ancient texts and fragile archival materials.

[0003] Among related technologies, a scanning device with automated page-turning technology is disclosed, which realizes automatic page turning of books during the scanning process by using airflow for page splitting and a robotic arm for page turning.

[0004] In the process of implementing the embodiments of this disclosure, at least the following problems were found in the related art:

[0005] If pages stick together, the airflow paging system may not be able to separate them accurately, resulting in inaccurate page turning.

[0006] It should be noted that the information disclosed in the background section above 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 those skilled in the art. Utility Model Content

[0007] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0008] This disclosure provides a fully automated scanning robot and scanning device to improve the pagination effect and page turning accuracy of book pages.

[0009] In some embodiments, a fully automated scanning robot includes: a scanning table including a first platform and a second platform forming a V-shape, the first platform being a fixed platform for the workpiece to be scanned and the second platform being a page-turning platform for the workpiece to be scanned; a scanning device disposed above the scanning table; a blower assembly with its air outlet facing the second platform; and a page-turning lever capable of rotation to turn the attached pages of the workpiece to be scanned.

[0010] Optionally, the pagination paddle includes: a fixed end disposed on the side of the second platform; a movable end capable of rotating about the fixed end to paddle the adhered page of the document to be scanned; and a drive motor connected to the movable end for driving the movable end to rotate.

[0011] Optionally, the width of the pagination lever gradually increases from the fixed end to the moving end; and / or, the pagination lever is provided with a cutout area.

[0012] Optionally, the thickness of the pagination lever gradually decreases from the fixed end to the moving end.

[0013] Optionally, the air outlet of the blower assembly is elongated; and / or, the blower assembly is located on the front and rear sides of the second platform, and the blower assembly can be moved to adjust the blowing position.

[0014] Optionally, the scanning device includes: a first mirror plate and a second mirror plate, the first mirror plate being disposed above the first platform corresponding to the second platform, and the second mirror plate being disposed above the second platform corresponding to the first platform; a flip mirror, disposed between the first mirror plate and the second mirror plate, and capable of rotating between a first position corresponding to the first mirror plate and a second position corresponding to the second mirror plate; and a camera lens, disposed above the flip mirror, capable of acquiring an image of the object to be scanned through the flip mirror, the first mirror plate, and the second mirror plate.

[0015] Optionally, the fully automated scanning robot also includes: a page-turning device, comprising a robotic arm and a vacuum adsorption mechanism, wherein the robotic arm is located on the side of the middle part of the scanning stage, and the vacuum adsorption mechanism includes a porous vacuum suction head located at the front end of the robotic arm.

[0016] Optionally, the fully automated scanning robot also includes a butterfly clamp, comprising a first clamp and a second clamp arranged symmetrically, the first clamp and the second clamp being able to press against the first platform and the second platform respectively.

[0017] Optionally, the fully automated scanning robot also includes: lighting equipment, positioned above the scanning table.

[0018] In some embodiments, the scanning device includes: a scanning device body; and a fully automated scanning robot, as described above, mounted on the scanning device body.

[0019] The fully automated scanning robot and scanning device provided in this disclosure can achieve the following technical effects:

[0020] In this embodiment, the fully automated scanning robot includes a scanning table, a scanning device, a blowing assembly, and a page-separating lever. The air outlet of the blowing assembly faces the second platform and is used to blow air onto the pages to be turned, thereby achieving initial separation of the pages. Combined with the rotational action of the page-separating lever, it can effectively separate stuck pages from the scanned document, improving the page separation effect. During automatic page turning, it ensures that only one page is turned at a time, improving the accuracy of page turning. Furthermore, the scanning table includes a first platform and a second platform forming a V-shape. This structure better supports the document to be scanned, keeping it stable during scanning and reducing the risk of damage due to shaking or unevenness.

[0021] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0023] Figure 1 This is a schematic diagram of the structure of a fully automated scanning robot provided in an embodiment of this disclosure;

[0024] Figure 2 This is a schematic diagram of the structure of the scanning stage in a fully automated scanning robot provided in an embodiment of this disclosure;

[0025] Figure 3 This is a schematic diagram of the structure of a pagination lever in a fully automated scanning robot provided in an embodiment of this disclosure;

[0026] Figure 4 This is a schematic diagram of the structure of a scanning device in a fully automated scanning robot provided in this embodiment;

[0027] Figure 5 This is a schematic diagram of the page-turning device in a fully automated scanning robot provided in this embodiment of the disclosure;

[0028] Figure 6 This is a schematic diagram of the butterfly clamp in a fully automated scanning robot provided in this embodiment.

[0029] Reference numerals: 10, scanning stage; 20, scanning device; 30, blowing assembly; 40, page-turning lever; 50, page-turning device; 60, butterfly clip; 11, first platform; 12, second platform; 41, fixed end; 42, moving end; 21, first mirror plate; 22, second mirror plate; 23, flip mirror; 24, camera lens; 51, robotic arm; 52, vacuum adsorption mechanism; 61, first clamping plate; 62, second clamping plate. Detailed Implementation

[0030] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0031] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0032] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0033] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0034] Unless otherwise stated, the term "multiple" means two or more.

[0035] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0036] 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.

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0038] Combination Figure 1 and Figure 2 As shown, this embodiment of the present disclosure provides a fully automated scanning robot, including: a scanning table 10, a scanning device 20, a blowing assembly 30, and a page-turning lever 40. The scanning table 10 includes a first platform 11 and a second platform 12 forming a V-shape. The first platform 11 is a fixed platform for the workpiece to be scanned, and the second platform 12 is a page-turning platform for the workpiece to be scanned. The scanning device 20 is disposed above the scanning table 10. The air outlet of the blowing assembly 30 faces the second platform 12. The page-turning lever 40 is rotatable to turn the adhered pages of the workpiece to be scanned.

[0039] In this embodiment, the air outlet of the blower assembly 30 faces the second platform 12 and is used to blow air onto the pages to be turned, thereby achieving initial separation of the pages. Combined with the rotation of the page-turning lever 40, it can effectively separate stuck pages from the scanned document, improving the page-turning effect. During automatic page turning, it ensures that only one page is turned at a time, improving the accuracy of page turning. Furthermore, the scanning stage 10 includes a first platform 11 and a second platform 12 forming a V-shape. This structure better supports the document to be scanned, keeping it stable during scanning and reducing the risk of damage due to shaking or unevenness.

[0040] Optionally, the included angle between the first platform 11 and the second platform 12 is in the range of [105°, 115°]. More specifically, the included angle between the first platform 11 and the second platform 12 is 105°, 107°, 110°, 112° or 115°.

[0041] In this embodiment, the scanning stage 10 adopts an ergonomic V-shaped structure design. The angle parameters between the first platform 11 and the second platform 12 have been scientifically calculated to precisely correspond to the optimal mechanical opening angle for flat book reading. The design of the scanning stage 10 ensures scanning accuracy while effectively protecting the book binding structure. By scientifically dispersing the pressure on the spine, it achieves both non-destructive scanning of ancient documents and provides stable support for modern hardcover books, thus balancing the dual needs of operational efficiency and document protection.

[0042] Optionally, combined Figure 3 As shown, the pagination paddle 40 includes a fixed end 41, a movable end 42, and a drive motor (not shown in the figure). The fixed end 41 is disposed on the side of the second platform 12. The movable end 42 can rotate around the fixed end 41 to paddle the adhered pages of the document to be scanned. The drive motor is connected to the movable end 42 and is used to drive the movable end 42 to rotate.

[0043] In this embodiment, the moving end 42 of the pagination lever 40 can rotate around the fixed end 41, realizing automated pagination. The drive motor is connected to the moving end 42 and can precisely control the rotation angle and speed of the pagination lever 40, ensuring the accuracy and consistency of each pagination action and reducing scanning errors or duplicate scans caused by inaccurate pagination.

[0044] Optionally, the fixed end 41 of the pagination lever 40 can move along the side of the second platform 12. This allows the position of the pagination lever 40 to be adjusted according to different documents to be scanned, thereby achieving a better pagination effect.

[0045] Optionally, the moving end 42 of the pagination paddle 40 is made of a flexible material. This reduces damage to the scanned document, especially fragile ancient books and precious documents. The flexible paddle provides gentle force when contacting the page, avoiding scratches or tears.

[0046] Optionally, the drive 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. This ensures that the pagination paddle 40 can operate with appropriate force when processing different types of books, further protecting the document to be scanned.

[0047] Optionally, the width of the pagination lever 40 gradually increases from the fixed end 41 to the moving end 42; and / or, the pagination lever 40 is provided with a cutout area.

[0048] In this embodiment, the width of the page-separating lever 40 gradually increases from the fixed end 41 to the moving end 42, allowing it to better adapt to pages of varying thicknesses when in contact with the book. The wider moving end 42 provides a larger contact area, thereby applying a more uniform force during page separation, improving page separation stability, and reducing page tearing or damage caused by uneven force. The perforated area on the page-separating lever 40 reduces its overall weight, thereby reducing the inertia of the lever 40 during rotation and improving the sensitivity and accuracy of the page separation action. The perforated area also optimizes the airflow distribution of the blowing assembly 30, allowing the airflow to act more evenly on the page, which helps to better separate stuck pages and improve the success rate of page separation, especially when handling thinner or slippery paper.

[0049] Optionally, the thickness of the paging lever 40 gradually decreases from the fixed end 41 to the moving end 42.

[0050] In this embodiment, the thickness of the pagination lever 40 gradually decreases from the fixed end 41 to the moving end 42, allowing the pagination lever 40 to better adapt to different paper materials when contacting the page. The thinner moving end 42 can more flexibly paddle thin or fragile paper, and can apply force more gently when contacting the page, reducing direct impact on the page and reducing page damage caused by an excessively thick lever.

[0051] Optionally, the air outlet of the blower assembly 30 is elongated; and / or, the blower assembly 30 is disposed on the front and rear sides of the second platform 12, and the blower assembly 30 is movable to adjust the blowing position.

[0052] In this embodiment, the elongated air outlet provides a more uniform airflow distribution, allowing the airflow to act more evenly on the pages of the document to be scanned. This helps to better separate stuck pages and reduces pagination failures or page damage caused by uneven airflow. The blowing assembly 30 can also flexibly adjust its blowing position according to the size and shape of the document to be scanned, ensuring that the airflow can accurately act on the pages that need to be separated, improving the success rate of pagination. For example, for thicker books, the blowing assembly 30 can be moved closer to the spine for better page separation.

[0053] Optionally, the airflow component 30 can adjust the airflow intensity according to different page materials. This ensures optimal pagination results on pages with different materials.

[0054] 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 disposed above the first platform 11, corresponding to the second platform 12, and the second mirror plate 22 is disposed above the second platform 12, corresponding to the first platform 11. The flip mirror 23 is disposed between the first mirror plate 21 and the second mirror plate 22, and can rotate 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 disposed above the flip mirror 23 and can acquire an image of the object to be scanned through the flip mirror 23, the first mirror plate 21, and the second mirror plate 22.

[0055] In this embodiment, the arrangement of the first mirror plate 21 and the second mirror plate 22 ensures that the scanning device 20 can simultaneously cover two platforms, improving scanning efficiency. The two mirror plates correspond to different platforms, allowing the scanning device 20 to flexibly handle single-page or double-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 workpiece to be scanned, further improving scanning efficiency and flexibility.

[0056] Optionally, combined Figure 1 and Figure 5 As shown, the fully automated scanning robot also includes a page-turning device 50. The page-turning device 50 includes a robotic arm 51 and a vacuum suction mechanism 52. The robotic arm 51 is located on the side of the middle part of the scanning stage 10, and the vacuum suction mechanism 52 includes a porous vacuum suction head located at the front end of the robotic arm 51.

[0057] In this embodiment, the robotic arm 51 can rotate to reach various positions on the scanning stage 10, ensuring the flexibility and accuracy of the page-turning operation. The porous vacuum suction head of the vacuum adsorption mechanism 52 can provide uniform adsorption force, reducing page damage caused by excessive local suction and ensuring gentle handling of the scanned document during page turning. The coordinated work of the robotic arm 51 and the vacuum adsorption mechanism 52 achieves efficient and automated page turning operations. After the robotic arm 51 moves to the correct position, the vacuum adsorption mechanism 52 can adsorb and turn the page, and their coordinated work ensures the smoothness and accuracy of the page turning process.

[0058] Optionally, the multiple vacuum suction heads in the porous vacuum suction head are arranged in a matrix.

[0059] Optionally, the total area of ​​the porous vacuum nozzle is greater than or equal to 7cm × 15cm.

[0060] Optionally, the number of vacuum tips in the porous vacuum tip is greater than or equal to 40.

[0061] Optionally, the vacuum adsorption mechanism 52 has two adsorption skirts on each of its four sides. As the vacuum adsorption mechanism 52 descends and contacts the book pages, the adsorption skirts droop down, forming a vacuum wrap. The adsorption skirts automatically and gently wrap the pages to be turned before the suction cups contact the paper. This adsorption skirt technology uses minimal suction in conjunction with the porous vacuum head to lift the paper, reducing damage. Furthermore, the suction strength of the porous vacuum head is adjustable, allowing even fragile ancient books to be gently turned.

[0062] Optionally, combined Figure 1 and Figure 6 As shown, the fully automated scanning robot also includes a butterfly clamp 60. The butterfly clamp 60 includes a first clamping plate 61 and a second clamping plate 62 arranged symmetrically, and the first clamping plate 61 and the second clamping plate 62 can respectively press against the first platform 11 and the second platform 12.

[0063] In this embodiment, the butterfly clip 60 is assembled from a hinge system using a first clip 61 and a second clip 62 that are symmetrically arranged on both sides, giving it an overall biomimetic butterfly shape. The butterfly clip 60 employs a double-wing flattening mechanism design, utilizing the principle of elasticity to achieve page flatness of the document to be scanned. The first clip 61 and the second clip 62 can precisely conform to the spine curve of the document to be scanned, moving along the spine during scanning. Figure 6 Apply uniform pressure to the unfolded page in the direction of the middle arrow. The pressure can be adjusted according to the book's condition. This can eliminate the curvature distortion caused by the binding of the book, ensure that the scanned image is free of optical distortion, effectively suppress page rebound, and ensure the stability of continuous scanning.

[0064] Optionally, the number of butterfly clips 60 is two sets, respectively set at the front and rear ends of the scanning stage 10.

[0065] Optionally, the first clamp 61 and the second clamp 62 cover a range of 0 to 20 mm on both sides of the bookbinding line.

[0066] In this embodiment, compared to traditional full-width glass book-pressing devices, the butterfly clip 60 adopts a composite pressure mode. Based on biomechanical calculations, the contact area between the first clip 61 and the second clip 62 and the book is optimized, minimizing pressure loss on the book. While ensuring a flattening effect, it minimizes damage to paper fibers from mechanical pressure, making it particularly suitable for the digitization of fragile ancient books, archives, and other valuable materials.

[0067] Optionally, the fully automated scanning robot also includes a lighting device (not shown in the figure). The lighting device is positioned above the scanning stage 10.

[0068] In this embodiment, the lighting equipment is positioned above the scanning stage 10, ensuring uniform illumination of the surface of the object to be scanned and providing optimal lighting conditions. The lighting equipment can adjust its brightness and color temperature according to the material and color of the object. For example, normal brightness and color temperature can be used for ordinary paper books; for coated paper books, brightness can be reduced and color temperature increased to reduce glare; for rare and ancient books, soft, warm yellow light can be used to protect the books and achieve better scanning results. By adjusting the brightness and color temperature, the lighting equipment ensures more realistic and accurate color and contrast in the scanned image, enabling the fully automated scanning robot to adapt to various types of objects and improve the quality of the scanned images.

[0069] Optionally, the lighting equipment uses LED light sources.

[0070] Optionally, the fully automated scanning robot also includes a page edge sensor (not shown in the figure), which is mounted on the robotic arm 51. The page edge sensor can detect and analyze the light transmittance of the page to determine whether the page picked up by the robotic arm 51 is a single page or multiple pages.

[0071] Optionally, the fully automated scanning robot also includes laser eyes (not shown) positioned on either side of the page edge sensor. The laser eyes can detect whether a page is being attracted by the robotic arm 51.

[0072] Based on the aforementioned fully automatic scanning robot, this disclosure provides a control method for the fully automatic scanning robot, comprising: controlling the scanning device 20 to scan the workpiece to be scanned located on the scanning table 10, and controlling the page-turning device 50 to turn the pages of the workpiece to be scanned; during the process of the page-turning device 50 turning the pages of the workpiece to be scanned, controlling the blowing assembly 30 to blow air onto the pages of the workpiece to be turned; and when the pages of the workpiece to be scanned are stuck to other pages, controlling the page-separating paddle 40 to move the pages of the workpiece to be turned so as to separate the pages of the workpiece to be turned from the other pages.

[0073] In this embodiment, the page-turning device 50 is controlled to automatically turn pages, and the scanning device 20 is simultaneously controlled to scan during the page-turning process. During page-turning, the blowing assembly 30 blows air onto the pages to be turned, thereby achieving initial separation of the pages. Combined with the rotation of the page-separating lever 40, it can effectively separate stuck pages from the scanned document, improving the page separation effect. Thus, during automatic page-turning, it is ensured that only one page is turned at a time, improving the accuracy of page-turning.

[0074] Optionally, after placing the document to be scanned on the scanning table 10, the first clamp 61 and the second clamp 62 of the butterfly clamp 60 are pressed against the unfolded page of the document to be scanned to fix the document to be scanned.

[0075] Optionally, controlling the blowing assembly 30 to blow air onto the pages to be turned includes: determining the airflow intensity and direction of the blowing assembly 30 based on the material and state of the pages to be turned; and increasing the airflow intensity and adjusting the airflow direction when the pages to be turned on the scanned document are stuck to other pages.

[0076] In this embodiment, by placing a sensor assembly near the scanning stage 10, the material and state of the page to be turned can be detected. For example, various data such as the page's color, texture, optical properties, thickness, hardness, humidity, and image recognition results can be detected. Based on the information acquired by the sensors, the material and state of the page can be determined, and then the airflow intensity and direction of the blowing assembly 30 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 medium (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. Furthermore, if the page to be turned sticks to other pages, the airflow intensity of the blowing component 30 can be appropriately increased, for example, by 5% to 10%, while the airflow direction is adjusted to be perpendicular to the thickness direction of the page, so as to better separate the sticking pages while reducing damage to the scanning element.

[0077] Optionally, controlling the pagination lever 40 to turn the page includes: adjusting the rotation angle, speed, and force of the pagination lever 40 according to the material and condition of the page to be turned; and / or controlling the turning frequency of the pagination lever 40 according to the page turning frequency of the page turning device 50; and / or controlling the pagination lever 40 to turn multiple times according to the adhesion between the page to be turned and other pages.

[0078] In this embodiment, the rotation angle, speed, and force of the pagination lever 40 can be determined by a preset intelligent algorithm based on the material and condition of the page to be turned. The preset intelligent algorithm can be implemented using preset rules; for example, for ordinary paper, the rotation angle is 20° to 45°, the speed is 0.8 to 1 time / second, and the force is moderate; for smooth paper, the rotation angle is 30° to 50°, the speed is 0.6 to 1 time / 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. The frequency of the pagination lever 40 is adjusted according to the page-turning frequency of the page-turning device 50 to ensure that the movement of the pagination lever 40 is synchronized with the movement of the page-turning device 50. Furthermore, depending on the adhesion between the page to be turned and other pages, the pagination lever 40 is controlled to move multiple times to achieve rapid separation of the adhered pages.

[0079] Optionally, the actuation frequency of the page-turning lever 40 can be controlled according to the page-turning frequency of the page-turning device 50 using the following formula:

[0080] f1=min(max(k×f0,f min ), f max )

[0081] Where f1 is the actuation frequency of the page-turning lever 40, f0 is the page-turning frequency of the page-turning device 50, k is the proportional coefficient, and f min f is the minimum actuation frequency of the paging lever 40. max This is the maximum frequency at which the paging lever 40 can be turned.

[0082] Optionally, the range of values ​​for k is [1, 2].

[0083] In this embodiment, the actuation frequency of the page-turning lever 40 is related to the page-turning frequency of the page-turning device 50. Simultaneously, a minimum and maximum actuation frequency for the page-turning lever 40 are set to ensure that the page-turning lever 40 can still work effectively at low page-turning frequencies and to prevent over-operation of the page-turning lever 40 at high page-turning frequencies.

[0084] Optionally, controlling the scanning device 20 to scan the workpiece located on the scanning stage 10 includes: controlling the flip mirror 23 to be in a first position, and the camera lens 24 performing matrix CCD (Charge-Coupled Device) point-to-point scanning on the first page to be scanned on the second platform 12 in the scanning stage 10 through the flip mirror 23 and the first mirror plate 21; and controlling the flip mirror 23 to be in a second position, and the camera lens 24 performing matrix CCD point-to-point scanning on the second page to be scanned on the first platform 11 in the scanning stage 10 through the flip mirror 23 and the second mirror plate 22.

[0085] In this embodiment, when the flip mirror 23 is in the first position, it faces the first mirror plate 21. Through light reflection, the camera lens 24 can scan the first page to be scanned on the second platform 12. When the flip mirror 23 is in the second position, it faces the second mirror plate 22. Through light reflection, the camera lens 24 can scan the second page to be scanned on the first platform 11. By controlling the movement of the flip mirror 23, switching between the first platform 11 and the second platform 12 can be achieved, improving scanning efficiency. Furthermore, the matrix CCD point-to-point scanning technology integrates optics, lenses, light sources, and software through a matrix CCD processor. It not only retains the high-speed acquisition characteristics of area array processors but also solves the problem of image distortion around the edges caused by the fisheye effect when using area array processors. Through point-to-point image scanning technology, it ensures zero-distortion and non-deformation image acquisition in one pass, thereby improving scanning quality and efficiency.

[0086] Optionally, the page-turning device 50 is controlled to turn the pages of the document to be scanned, including: adjusting the suction force of the porous vacuum suction head according to the material and state of the pages; and rotating the robotic arm to turn the pages after the porous vacuum suction head has attracted the pages.

[0087] In this embodiment, the adsorption force of the porous vacuum suction head can be determined by a preset intelligent algorithm based on the material and condition of the page to be turned. The preset intelligent algorithm can be implemented using pre-defined rules, for example: for ordinary paper, the adsorption force is set to medium strength (vacuum pressure value 40% to 60%); for smooth paper, the adsorption force is set to low strength (vacuum pressure value 30% to 40%); and for fragile paper, the adsorption force is set to very low strength (vacuum pressure value 20% to 30%). This automatic adjustment of the adsorption force according to different page materials and conditions reduces damage to the pages. After the porous vacuum suction head adsorbs the page, the robotic arm rotates to turn the page. The rotation path of the robotic arm can be a preset parabolic path to ensure the smoothness and accuracy of the page-turning process.

[0088] 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, 1600, 1800, 2300, or 3300 pages per hour.

[0089] Optionally, the control method further includes: acquiring the page material information of the document to be scanned; the page material information includes one or more of paper type, paper thickness, and paper color; and determining the brightness and / or color temperature of the lighting device based on the page material information of the document to be scanned.

[0090] In this embodiment, adjusting the brightness and color temperature of the lighting device according to the material information of the book pages ensures the clarity and accuracy of the scanned images. For example, for smooth paper, appropriately reducing the brightness and increasing the color temperature can reduce reflections and ensure vibrant image colors; for ancient books, selecting a lower brightness and a warmer color temperature can reduce damage to the paper and present an antique atmosphere.

[0091] Optionally, the brightness and / or color temperature of the lighting device are determined based on the material information of the pages of the document to be scanned, including: determining the initial brightness and / or initial color temperature of the lighting device 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.

[0092] 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 avoids glare caused by excessively bright light or unclear text caused by excessively dim light.

[0093] Optionally, for ordinary paper books, the initial color temperature setting range of the lighting equipment is [4000K, 5000K]. More specifically, the initial color temperature of the lighting equipment is set to 4000K, 4200K, 4400K, 4600K, 4800K, or 5000K. Warm white light within this color temperature range is close to natural light, enabling text and images to present more realistic colors and contrast.

[0094] Optionally, for coated paper books, the initial brightness setting range of the lighting equipment is [30%, 50%]. More specifically, the initial brightness of the lighting equipment is set to 30%, 35%, 40%, 45%, or 50%. Because coated paper has a smooth surface and high reflectivity, the brightness of the light source should be appropriately reduced.

[0095] Optionally, for coated paper books, the initial color temperature setting range of the lighting equipment is [5000K, 6000K]. More specifically, the initial color temperature of the lighting equipment can be set to 5000K, 5200K, 5400K, 5600K, 5800K, or 6000K. By increasing the color temperature value, reflections can be reduced, resulting in more vibrant colors and higher saturation in the scanned image.

[0096] Optionally, for rare and ancient books, the initial brightness setting range of the lighting equipment is [40%, 60%]. More specifically, the initial brightness of the lighting equipment is set to 40%, 45%, 50%, 55%, or 60%. Since rare and ancient books are usually old, the paper may have yellowed and become brittle. In order to protect the books and present a better scanning effect, the brightness of the light source should not be too high.

[0097] Optionally, for rare and ancient books, the initial color temperature setting range for the lighting equipment is [3000K, 4000K]. More specifically, the initial color temperature of the lighting equipment can be set to 3000K, 3200K, 3400K, 3600K, 3800K, or 4000K. Warm yellow light within this color temperature range can create a rustic atmosphere while reducing eye strain.

[0098] Optionally, for color brochures, the initial brightness setting range for the lighting equipment is [50%, 70%]. More specifically, the initial brightness of the lighting equipment can be set to 50%, 55%, 60%, 65%, or 70%. Selecting an appropriate light source brightness can accurately reproduce the colors in the brochure.

[0099] Optionally, for color brochures, the initial color temperature setting range of the lighting equipment is [5000K, 6500K]. More specifically, the initial color temperature of the lighting equipment can be 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, which makes the scanned images more accurate and vibrant.

[0100] Optionally, the initial brightness and / or initial color temperature may be adjusted according to the paper color and thickness of the document to be scanned, including: using intelligent algorithms and machine learning techniques to automatically optimize the initial brightness and / or initial color temperature of the lighting equipment based on historical data and real-time feedback information.

[0101] In this embodiment, by collecting data on light brightness and color temperature under different paper colors and thicknesses, as well as quality data of scanned images, a machine learning algorithm (such as support vector machine, random forest, convolutional neural network, etc.) is used to train a model to predict the optimal light brightness and color temperature under different paper colors and thicknesses. During the scanning process, based on real-time feedback information, the trained model dynamically adjusts the initial brightness and initial color temperature of the lighting equipment to ensure the quality of the scanned images.

[0102] Optionally, the control method further includes: during the scanning process, adjusting the spine position of the document to be scanned based on the thickness of the scanned pages and the thickness of the unscanned pages on the scanning table 10.

[0103] In this embodiment, during the scanning process, the thickness of the scanned pages on the first platform 11 gradually increases, while the thickness of the unscanned pages on the second platform 12 gradually decreases. At this time, it is necessary to adjust the spine position of the document to be scanned in order to adjust the position of the document to be scanned and improve the scanning effect.

[0104] Optionally, the control method further includes: before turning the page, controlling the first clamp 61 and the second clamp 62 of the butterfly clip 60 to lift up so as to turn the page.

[0105] Optionally, the control method further includes: after page turning is completed, controlling the first clamp 61 and the second clamp 62 of the butterfly clip 60 to press against the unfolded page of the document to be scanned, so as to fix the document to be scanned. In this way, the pages can be prevented from springing back, ensuring that the unfolded page of the document to be scanned is flat.

[0106] This disclosure provides a scanning device, including a scanning device body and a fully automated scanning robot as described above. The fully automated scanning robot is mounted on the scanning device body.

[0107] Optionally, the scanning device includes a book scanning device.

[0108] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A fully automated scanning robot, characterized in that, include: The scanning stage includes a first platform and a second platform forming a V-shaped structure. The first platform is a fixed platform for the workpiece to be scanned, and the second platform is a page-turning platform for the workpiece to be scanned. The scanning device is positioned above the scanning stage; The air blower assembly has its air outlet facing the second platform; The pagination lever can be rotated to move the attached pages of the document to be scanned.

2. The fully automated scanning robot according to claim 1, characterized in that, Page break buttons include: The fixed end is located on the side of the second platform; On the mobile device, the device can rotate around the fixed end to move the attached page of the document to be scanned; A drive motor, connected to the mobile device, is used to drive the mobile device to rotate.

3. The fully automated scanning robot according to claim 2, characterized in that, The width of the pagination lever gradually increases from the fixed end to the moving end; and / or, The page break lever has a cutout area.

4. The fully automated scanning robot according to claim 2, characterized in that, The thickness of the pagination lever gradually decreases from the fixed end to the moving end.

5. The fully automated scanning robot according to claim 1, characterized in that, The air outlet of the blower assembly is elongated and strip-shaped; and / or, The blower assembly is located on the front and rear sides of the second platform, and the blower assembly can be moved to adjust the blower position.

6. The fully automated scanning robot according to claim 1, characterized in that, The scanning device includes: A first mirror plate and a second mirror plate, wherein the first mirror plate is disposed above the second platform, and the second mirror plate is disposed above the first platform, respectively. A flip mirror is positioned between a first mirror plate and a 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. The camera lens is positioned above the flip mirror and can acquire images of the object to be scanned through the flip mirror, the first mirror plate, and the second mirror plate.

7. The fully automated scanning robot according to any one of claims 1 to 6, characterized in that, Also includes: The page-turning device includes a robotic arm and a vacuum adsorption mechanism. The robotic arm is located on the side of the middle part of the scanning stage, and the vacuum adsorption mechanism includes a porous vacuum suction head located at the front end of the robotic arm.

8. The fully automated scanning robot according to any one of claims 1 to 6, characterized in that, Also includes: The butterfly clamp includes a first clamp plate and a second clamp plate arranged symmetrically, which can respectively press against the top of the first platform and the second platform.

9. The fully automated scanning robot according to any one of claims 1 to 6, characterized in that, Also includes: The lighting equipment is positioned above the scanning table.

10. A scanning device, characterized in that, include: Scan the device itself; The fully automated scanning robot as described in any one of claims 1 to 9 is installed on the scanning device body.

Images