What modules for arduino are needed to recognize objects and build a map?

Question

Arduino

As part of the project, you need to make a robot that recognizes the boundaries of the sheet of paper on which it is located, the paper format (a4, a5, etc.) and builds something like a "card" moving around the sheet.

1) what details might be needed here?
2) is arduino uno enough for this task?
3) what are the ready-made solutions not to do everything from scratch (libraries)?

In the future, I would like the robot to also recognize what is drawn on the sheet, so that the sheet can be of any color, even black, and transmit data to the phone.

PS.
4) What if we write the logic on the mobile device that the robot connects to? What are the downsides to this approach? Will the arduino (video transmission) then pull?

Answer 1

There was an article on Habré on how to get an image from the optical sensor of a computer mouse.
https://habr.com/en/post/128972/
In theory, this single sensor could be used for a prototype, because the mouse can evaluate movement even on a blank slate.
You can add encoders to the wheels and apply the Kalman method to improve the accuracy and stability of determining the coordinates. To store a bitmap image with the resolution that the optical sensor of the mouse 600-1200dpi "sees" in the stock arduino, there is not enough memory, so you can really drive data (offsets and pictures) to a computer (or smartphone), and then process and send commands for robot motors.
You can take an ESP-cam and add a backlit lens, then you can try to form a picture on a device, for example, on a flash drive.
It is more efficient to make a bar with a movable sensor and a straight-moving robot, or take a sensor from a ready-made scanner. About 20 years ago, a friend of mine had a hand-held scanner that had to be dragged across the paper to scan the sheet. By the rotation of the wheels, the scanner understood how fast it was being pulled. If you drive carefully, you get quite a tolerable picture, but only in the case of one pass.
Of course, with an optical sensor from the mouse, your robot will scan A4 for a long time and dreary, and in BW.
In general, it is easier to take a picture of a sheet from above with a smartphone =).

Answer 2

camera + light
what is the question and what is the answer :)

Answer 3

The device that you describe is called a scanner , so it makes no sense to reinvent the wheel.

Answer 4

It will be quite possible with a phototransistor to look for the boundaries of the sheet and roughly guess the shape of the sheet, that is, to detect A3 or A4.
To determine the image on the sheet, accuracy is needed, that is, you have to use a camera, which means that the power of the arduino is no longer enough

Answer 5

Perhaps this is what you are looking for