Hi,
on terminal write hp-
then hit tab, you should see:
hp-align hp-info hp-query
hp-check hp-levels hp-scan
hp-clean hp-logcapture hp-setup
hp-colorcal hp-makeuri hp-testpage
hp-config_usb_printer hp-pkservice hp-timedate
hp-doctor hp-plugin hp-unload
hp-firmware hp-plugin-ubuntu
hp-hpdio hp-probe
Which are the utils installed by the hplip package, among them there is also the command hp-scan but you need to setup the printer, so try hp-info to see if it's detected... you can also install the GUI, package name is hplip-gui.