A robotic document feeder system may comprise a robotic arm coupled to a Bernoulli cup assembly powered by a vacuum source; a base disposed over an imaging surface of a document scanner, wherein the base comprises a designated scan area through which a document may be imaged by the document scanner; an input bin for storing at least one document to be imaged by the document scanner; and an output bin for storing the at least one document after it has been imaged by the document scanner. The system may further comprise an alignment mechanism in proximity to the designated scan area and configured to align the document substantially over the imaging surface of the document scanner; at least one automated door configured to close the designated scan area after the document has been placed in the designated scan area; and a camera positioned above the designated scan area for imaging a second side of the document.

An image scanner is configured to perform: controlling the sheet feed roller to feed the document supported on the sheet feed tray, controlling the conveyor to convey the fed document to the reading position, controlling the image sensor to read the image of the document at the reading position, and controlling the sheet discharge unit to discharge the read document to the sheet discharge tray; in response to detecting, by the sheet feed sensor, a state change from the first state to the second state, moving the movable plate upward until the sheet feed roller changes from the second state to the first state; after moving the movable plate, controlling the distance sensor to detect the document distance; and moving the sheet discharge unit vertically based on the detected document distance.

An image scanner is configured to perform: controlling the sheet feed roller to feed the document supported on the sheet feed tray, controlling the conveyor to convey the fed document to the reading position, controlling the image sensor to read the image of the document at the reading position, and controlling the sheet discharge unit to discharge the read document to the sheet discharge tray; in response to detecting, by the sheet feed sensor, a state change from the first state to the second state, moving the movable plate upward until the sheet feed roller changes from the second state to the first state; after moving the movable plate, controlling the distance sensor to detect the document distance; and moving the sheet discharge unit vertically based on the detected document distance.

An image forming apparatus includes a sheet storing cassette, a lift mechanism, a sheet feeding portion, a remaining quantity sensing portion, and a control portion. The control portion, during continuous sheet feeding by the sheet feeding portion, controls the lift mechanism to make a sheet stacking plate ascend to a lifted position where sheets make contact with the sheet feeding portion, and feeds a foregoing sheet and then, at a sheet feeding timing a predetermined time thereafter, starts feeding the following sheet. The control portion makes the sheet feeding timing earlier as the remaining quantity of the sheets sensed by the remaining quantity sensing portion decreases.

An image forming apparatus includes a sheet storing cassette, a lift mechanism, a sheet feeding portion, a remaining quantity sensing portion, and a control portion. The control portion, during continuous sheet feeding by the sheet feeding portion, controls the lift mechanism to make a sheet stacking plate ascend to a lifted position where sheets make contact with the sheet feeding portion, and feeds a foregoing sheet and then, at a sheet feeding timing a predetermined time thereafter, starts feeding the following sheet. The control portion makes the sheet feeding timing earlier as the remaining quantity of the sheets sensed by the remaining quantity sensing portion decreases.

A feeding device includes a loading portion, a lifting mechanism, a conveying unit, a sheet detector, a near-end detector, and process circuitry. The loading portion stacks a plurality of sheets. The lifting mechanism lifts the loading portion. The conveying unit conveys the sheets on the loading portion. The sheet detector detects presence or absence of the sheets on the loading portion at a specified height position. The sheet count detector detects a number of sheets conveyed by the conveying unit. The near-end detector detects a near-end state in which a stack height of the sheets on the loading portion is a specified value or less. The process circuitry controls the lifting mechanism based on a detection result of the sheet detector before the near-end state is detected, and controls the lifting mechanism based on a detection result of the sheet count detector after the near-end state is detected.

A feeding device includes a loading portion, a lifting mechanism, a conveying unit, a sheet detector, a near-end detector, and process circuitry. The loading portion stacks a plurality of sheets. The lifting mechanism lifts the loading portion. The conveying unit conveys the sheets on the loading portion. The sheet detector detects presence or absence of the sheets on the loading portion at a specified height position. The sheet count detector detects a number of sheets conveyed by the conveying unit. The near-end detector detects a near-end state in which a stack height of the sheets on the loading portion is a specified value or less. The process circuitry controls the lifting mechanism based on a detection result of the sheet detector before the near-end state is detected, and controls the lifting mechanism based on a detection result of the sheet count detector after the near-end state is detected.

A controller drives a floating unit and a conveyor to perform a sheet feed operation, during the sheet feed operation, acquires an amount of received light at a detector during floating of sheets floated by the floating unit each time each sheet is conveyed by the conveyor, and perform a following control of lifting a stacking tray upon the acquired amount of received light being less than a threshold value. The controller, after start of the sheet feed operation, samples amounts of received light at the detector during floating of the sheets floated by the floating unit, performs a threshold value determination process of determining the threshold value by using the sampled amounts of received light, and starts the following control upon determining the threshold value.

A controller drives a floating unit and a conveyor to perform a sheet feed operation, during the sheet feed operation, acquires an amount of received light at a detector during floating of sheets floated by the floating unit each time each sheet is conveyed by the conveyor, and perform a following control of lifting a stacking tray upon the acquired amount of received light being less than a threshold value. The controller, after start of the sheet feed operation, samples amounts of received light at the detector during floating of the sheets floated by the floating unit, performs a threshold value determination process of determining the threshold value by using the sampled amounts of received light, and starts the following control upon determining the threshold value.

A pick attempt of a media sheet from a media tray is initiated by rotating a pick roller a number of rotations that is set to greater than one in response to the sheet having been designated as a special media sheet type and that is set to one in response to the sheet not having been so designated. In response to a pick sensor detecting the sheet after the pick attempt has been attempted, a turn roller is rotated to advance the sheet to a print engine, and while the turn roller is rotating, the pick roller is rotated to assist advancement of the media sheet. A controller manages per-sheet and per-tray pick attempt counters while the sheet is individually attempted to be picked and advanced, using the counters to determine whether to initiate another pick attempt of the sheet when a current pick attempt has failed.