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 transfer end effector, wherein the document transfer end effector comprises (i) a body, (ii) a suction applicator disposed adjacent to a bottom portion of the body, and (iii) a document pincher comprising an arm and a document gripper, the arm coupling the document gripper to the body;
(b) contacting the suction applicator with a first surface of a document or document stack to subject the first surface to a suction force;
(c) lifting the document or document stack in contact with the suction applicator;
(d) contacting the document gripper to a second surface of the document or document stack to position the document or document stack between the document gripper and the bottom portion of the bod, wherein the second surface is opposite the first surface; and
(e) moving the document transfer end effector to transfer the document or document stack from a first location to a second location different from the first location.
2. The method of claim 1 , wherein (b) comprises extending or retracting the suction applicator relative to the body to facilitate contact between the suction applicator and the first surface of the document or document stack.
3. The method of claim 1 , wherein the suction applicator comprises a suction cup.
4. The method of claim 1 , wherein the document transfer end effector further comprises a robot coupling component disposed adjacent to a top portion of the body, wherein the robot coupling component is releasably coupled to a robot arm, and wherein (e) comprises moving the robot arm to move the document transfer end effector from the first location to the second location.
5. The method of claim 1 , further comprising, prior to (b), collecting information about the document or document stack to determine the suction force to be applied.
6. The method of claim 1 , further comprising, prior to (b), collecting information about the document or document stack to identify a location of one or more fasteners attached to the document or document stack, and, in (b), contacting the suction applicator at a portion of the document or document stack proximate to or at the location of the one or more fasteners.
7. The method of claim 1 , wherein the arm is rotatably coupled to the body to permit the document gripper to rotate relative to the body to bring the document gripper towards or away from the second surface.
8. The method of claim 1 , wherein the document transfer end effector further comprises a document contact platform disposed adjacent to the bottom portion of the body, configured to interface with the document or document stack.
9. The method of claim 1 , wherein the first location comprises a document pedestal and the second location comprises a document platform.
10. The method of claim 1 , wherein the document gripper comprises at least a portion which is oriented at an angle of less than about 180° from an end of the arm coupled to the document gripper.
11. A system for document processing, comprising:
a document transfer end effector, wherein the document transfer end effector comprises (i) a body, (ii) a suction applicator disposed adjacent to a bottom portion of the body, and (iii) a document pincher comprising an arm and a document gripper, the arm coupling the document gripper to the body; and
a controller unit comprising a processor, wherein the controller unit is in operable communication with the document transfer end effector, wherein the controller unit is configured to transfer a document or document stack from a first location to a second location by:
contacting the suction applicator with a first surface of the document or document stack to subject the first surface to a suction force;
lifting the document or document stack in contact with the suction applicator;
contacting the document gripper to a second surface of the document or document stack to position the document or document stack between the document gripper and the bottom portion of the body, wherein the second surface is opposite the first surface; and
moving the document transfer end effector to transfer the document or document stack from the first location to the second location.
12. The system of claim 11 , wherein the suction applicator is extendable or retractable relative to the bottom surface of the body to facilitate contact between the suction applicator and the first surface of the document or document stack.
13. The system of claim 11 , wherein the suction applicator comprises a suction cup.
14. The system of claim 11 , wherein the document transfer end effector further comprises a robot coupling component disposed adjacent to a top portion of the body, wherein the robot coupling component is releasably coupled to a robot arm, and wherein the controller unit is in operable communication with the robot arm to move the document transfer end effector from the first location to the second location.
15. The system of claim 11 , wherein the controller unit is further configured to collect information about the document or document stack to determine the suction force to be applied.
16. The system of claim 11 , wherein the controller unit is further configured to collect information about the document or document stack to identify a location of one or more fasteners attached to the document or document stack, and, contact the suction applicator at a portion of the document or document stack proximate to or at the location of the one or more fasteners.
17. The system of claim 11 , wherein the arm is rotatably coupled to the body to permit the document gripper to rotate relative to the body to bring the document gripper towards or away from the second surface.
18. The system of claim 11 , wherein the document transfer end effector further comprises a document contact platform disposed adjacent to the bottom portion of the body, configured to interface with the document or document stack.
19. The system of claim 11 , wherein the first location comprises a document pedestal and the second location comprises a document platform.
20. The system of claim 11 , wherein the document gripper comprises at least a portion which is oriented at an angle of less than about 180° from an end of the arm coupled to the document gripper.