Systems and methods relating to document and fastener identification
Method and systems of automated document processing described herein include activating in sequence a plurality of illumination modules of an illumination source to illuminate a document, where the plurality of illumination modules are located at different positions relative to the document. The document can be imaged each time the document is illuminated by an illumination module to provide a plurality of images. A shadow profile of the document can be obtained based on the plurality of images. One or more of a boundary of the document and presence of a fastener attached to the document can be identified using the shadow profile. Any fasteners present may be removed using a robot arm.
1. A method for document processing, comprising:
(a) providing a document comprising a fastener attached thereto;
(b) determining, with aid of a detection unit, information on the fastener;
(c) bringing, based at least in part on the information on the fastener, a fastener removal end effector in contact with the document, wherein the fastener removal end effector comprises a proximal end and a distal end, wherein the fastener removal end effector comprises a document contacting portion disposed adjacent to the distal end, a fastener pincher disposed adjacent to the proximal end, and a fastener removal insert disposed adjacent to the fastener pincher; and
(d) removing the fastener from the document by (i) contacting a first surface of the document with the document contacting portion to maintain the document in a position during removal of the fastener, (ii) inserting the fastener removal insert between the fastener and a second surface of the document, (iii) gripping the fastener between the fastener removal insert and the fastener pincher to position at least a portion of the fastener between the fastener removal insert and the fastener pincher, (iv) and moving the fastener pincher and the fastener removal insert away from the document to remove the fastener.
2. The method of claim 1 , wherein the first surface of the document is the second surface of the document.
3. The method of claim 2 , wherein the first surface of the document is the top surface of the document.
4. The method of claim 1 , wherein the fastener is selected from the group consisting of: staples, two-prong fasteners, clips, adhesives, metal brads, and punched hole fasteners.
5. The method of claim 1 , wherein the information on the fastener comprises one or more members selected from the group consisting of: type of fastener, location of the fastener on the document, presence of a plurality of fasteners, including the fastener, on the document, orientation of the fastener on the document, lateral angle of the fastener on the document, and inverted status of the fastener on the document.
6. The method of claim 1 , further comprising selecting the fastener removal end effector, from a plurality of fastener removal end effectors, based at least in part on the information on the fastener.
7. The method of claim 1 , further comprising, prior to (d), releasably coupling the fastener removal end effector to a robot arm.
8. The method of claim 1 , wherein the fastener removal insert comprises a tab configured to insert between the fastener and the second surface of the document, wherein the tab comprises a flat protrusion.
9. The method of claim 1 , wherein (d) is performed in absence of manual input by an operator.
10. The method of claim 1 , wherein the fastener is removed from the document in absence of breaking a portion of the fastener or leaving behind a portion of the fastener.
11. A system for document processing, comprising:
a detection unit configured to collect information on a fastener attached to a document;
a fastener removal end effector, wherein the fastener removal end effector comprises a proximal end and a distal end, wherein the fastener removal end effector comprises a document contacting portion disposed adjacent to the distal end, a fastener pincher disposed adjacent to the proximal end, and a fastener removal insert disposed adjacent to the fastener pincher; and
a controller unit in operable communication with the detection unit and the fastener removal end effector, wherein the controller unit is configured to bring the fastener removal end effector in contact with the document based at least in part on the information on the fastener received from the detection unit, and remove the fastener from the document using the fastener removal end effector by:
contacting a first surface of the document with the document contacting portion to maintain the document in a position during removal of the fastener,
inserting the fastener removal insert between the fastener and a second surface of the document,
gripping the fastener between the fastener removal insert and the fastener pincher to position at least a portion of the fastener between the fastener removal insert and the fastener pincher, and
moving the fastener pincher and the fastener removal insert away from the document to remove the fastener.
12. The system of claim 11 , wherein the first surface of the document is the second surface of the document.
13. The system of claim 12 , wherein the first surface of the document is the top surface of the document.
14. The system of claim 11 , wherein the fastener is selected from the group consisting of: staples, two-prong fasteners, clips, adhesives, metal brads, and punched hole fasteners.
15. The system of claim 11 , wherein the information on the fastener comprises one or more members selected from the group consisting of: type of fastener, location of the fastener on the document, presence of a plurality of fasteners, including the fastener, on the document, orientation of the fastener on the document, lateral angle of the fastener on the document, and inverted status of the fastener on the document.
16. The system of claim 11 , wherein the controller unit is further configured to select the fastener removal end effector, from a plurality of fastener removal end effectors, based at least in part on the information on the fastener.
17. The system of claim 11 , further comprising a robot arm releasably coupled to the fastener removal end effector.
18. The system of claim 11 , wherein the fastener removal insert comprises a tab configured to insert between the fastener and the second surface of the document, wherein the tab comprises a flat protrusion.
19. The system of claim 18 , wherein the tab has a thickness of less than about 3 millimeters.
20. The system of claim 11 , wherein the controller unit is configured to remove the fastener from the document in absence of manual input by an operator.