Automated pallet inspection and repair
An automatic pallet inspection cell ( 10 ) comprises one or two multi axis robot arms ( 14, 15 ) which terminate in either internal or exterior pallet grippers. The robots are used to transport a gripped pallet ( 12 ) through an automated inspection station ( 16 ) which compiles a three dimensional data map of a pallet surface. A processor interprets the map and producing a recipe for the robot or robots. One or more stations ( 17, 18, 19 ) conduct pallet repair operations that are specified by the recipe. A method for levelling a pallet prior to board removal by a band saw ( 17 ) is also disclosed, characterised by rolling the pallet relative to a blade of the band saw to a first and a second roll angle, and positioning the pallet at a position which is an average of the first and second roll angles.
1. A method of automated pallet repair, comprising the steps of:
using a scanning device to create a three-dimensional data map of a pallet for detecting gaps and protrusions in the pallet, the scanning device generating a laser beam projected onto the pallet;
filtering the three-dimensional data map into a two-dimensional image of on/off values by using a dynamically created height value, corresponding to a reference plane or set threshold offset above a board surface of the pallet;
creating a recipe of repair operations from the three-dimensional data map; and
gripping the pallet and transporting the gripped pallet to one or more repair stations in accordance with the recipe.
2. The method of claim 1 , further comprising filtering the three-dimensional data map with a Sobel or Gaussian filter to provide locations of the gaps and protrusions in the pallet.
3. A method of automated pallet repair, comprising the steps of:
using a scanning device to create a three-dimensional data map of a pallet for detecting gaps and protrusions in the pallet;
filtering the three-dimensional data map into a two-dimensional image of on/off values by using a dynamically created height value, corresponding to a reference plane or set threshold offset above a board surface of the pallet;
creating a recipe of repair operations from the three-dimensional data map; and
transporting the pallet to at least one repair station in accordance with the recipe.
4. The method of claim 3 , further comprising filtering the three-dimensional data map with a Sobel or Gaussian filter to provide locations of the gaps and protrusions in the pallet.
5. The method of claim 3 , wherein the scanning device generates a laser beam projected onto the pallet.
6. A method of automated pallet repair, comprising the steps of:
using a scanning device to generate a three-dimensional data map of a pallet, the three-dimensional data map including features, dimensions and topography of the pallet;
filtering the three-dimensional data map into a two-dimensional image comprising on/off values by using a dynamically created height value corresponding to a reference plane above a board surface of the pallet;
generating a recipe of repair operations based on the filtered three-dimensional data map; and
transporting the pallet to at least one repair station based on the recipe.
7. The method of claim 6 , further comprising filtering the three-dimensional data map with a Sobel or Gaussian filter to provide locations of gaps and protrusions in the pallet.
8. The method of claim 6 , further comprising gripping the pallet before transporting the pallet to the at least one repair station.
9. A method of automated pallet repair, comprising the steps of:
using a scanning device to generate a three-dimensional data map of a pallet, the three-dimensional data map including features, dimensions and topography of the pallet;
filtering the three-dimensional data map into a two-dimensional image comprising on/off values by using a dynamically created height value corresponding to set threshold offset above a board surface of the pallet;
generating a recipe of repair operations based on the filtered three-dimensional data map; and
transporting the pallet to at least one repair station based on the recipe.
10. The method of claim 9 , further comprising filtering the three-dimensional data map with a Sobel or Gaussian filter to provide locations of gaps and protrusions in the pallet.
11. The method of claim 9 , further comprising gripping the pallet before transporting the pallet to the at least one repair station.