Ancient book reparation method based on flying spray robot

Abstract

The invention discloses an ancient book reparation method based on a flying spray robot, and relates to an application of a technology combining a flying spray system, a CCD (charge coupled device) machine vision system, a laser measurement and calibration system, a digital automatic control system and a high-speed and high-precision robot in the field of ancient book reparation, so that digital high-precision positioning reparation can be performed on ancient books. The ancient book reparation method is characterized in that 1, a page of one ancient book is placed on a working table of the flying spray robot; 2, the CCD machine vision system performs target detection on the to-be-repaired ancient book; 3, mathematic positioning is performed; 4, a spray valve is adopted to perform high-precision, fixed-point and non-contact type glue spray on the periphery of the position requiring reparation, manipulator grabbing is performed, and laser detection is performed. The overall process replaces strenuous labor of a worker, a large quantity of manpower resources are saved, the precision of the ancient book reparation is greatly improved, the speed of the ancient book reparation is greatly increased, and the ancient book reparation enters the high-speed, high-precision and non-contact type automation field from the traditional manual industry.

Description

technical field [0001] The invention relates to a restoration method for ancient books based on a flying jet robot, in particular to a technology combining a flying jet system, a CCD machine vision system, a laser measurement and calibration system, a digital automatic control system and a high-speed, high-precision robot in the field of ancient book restoration The application of digital high-precision positioning and restoration of ancient books can be carried out. Background technique [0002] The restoration of ancient books is an important part of the cultural relics industry. In the restoration of ancient books, it is often necessary to perform operations such as observation, cleaning, repairing, mounting, and sorting. At present, the above operations are basically done manually, which not only has low work efficiency and complicated process, but also affects the quality and fineness of the restoration. The area of ​​defect repair in many fragments of ancient books i...

AI Technical Summary

Problems solved by technology

At present, the above operations are basically done manually, which not only has low work efficiency and complicated process, but also affects the quality and fineness of restoration.

The repair area of ​​many ancient book fragments is less than 10 square millimeters. It is very difficult to rely on manual work under a magnifying glass, and the quality cannot be guaranteed to be stable.

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