Tracking system and method for tracking wood products in a production line
The wood tracking system for a production line generally has a wood product optimizer; a wood product trimmer downstream from the optimizer in the production line; a conveyor for moving wood products from the optimizer to the trimmer and across a handling area therebetween, the optimizer being configured to scan each of the wood products in a given order and to generate optimization data for each wood product; and a computer vision system positioned proximate the handling area along the production line, the computer vision system having a camera, a processor in communication with the optimizer and with the trimmer and a computer-readable memory for storing the optimization data, the processor being configured to acquire images of the handling area from the camera, the processor being configured to associate the optimization data of a given wood product across each of the images until it arrives at the trimmer.
1. A method of tracking wood products being transversely moved across a handling area of a production line at a transverse speed, the method comprising:
obtaining position and orientation data and optimization data associated to each wood product of a first sample present in the handling area at a first moment in time;
using a processor,
anticipating position and orientation data of each wood product of the first sample at a second moment in time assuming an incremental transverse movement based on the transverse speed and on the position and orientation data associated to each wood product of the first sample;
acquiring, from a camera, an image representing each wood product of a second sample present in at least the handling area at the second moment in time and analyzing the image to determine actual position and orientation data associated to each wood product of the second sample; and
tracking each wood product from the first sample to the second sample by associating the optimization data of each wood product of the first sample to a respective wood product of the second sample based on the anticipated and actual position and orientation data;
calculating a distance parameter between all combinations of the anticipated and actual position and orientation data and wherein said associatinq is further based on the calculated distance parameters;
wherein said associating is performed for each combination characterized by a calculated distance parameter smaller than a distance parameter threshold; and
wherein said associating includes determining which of the combinations has a minimized distance parameter and associating a given wood product of the first sample associated to the anticipated position and orientation data of the determined combination to a given wood product of the second sample associated to the actual position and orientation data of the determined combination.
2. The method of claim 1 wherein the image is a second image and wherein said obtaining includes
acquiring, from the camera, a first image representing each wood product of the first sample present in the handling area at the first moment in time; and analyzing the first image to determine the position and orientation data associated to each wood product of the first sample.
3. The method of claim 1 wherein said analyzing includes modeling each wood product in the image as a line having a reference point at a given position and extending along a given orientation.
4. The method of claim 3 wherein said modeling includes convoluting the image with a convolution matrix to obtain a convoluted image.
5. The method of claim 4 wherein said modeling further includes thresholding the convoluted image to obtain a binary image.
6. The method of claim 5 wherein said modeling further includes applying a Hough transform to the binary image and wherein the position and orientation data and the distance parameters are determined from a parameter space of the Hough transform.
7. The method of claim 1 further comprising repeatedly performing said anticipating, acquiring and tracking for another image representing a third sample of elongated wood product at a third moment in time.
8. The method of claim 7 wherein said repeating is performed at a frame rate of at least 20 fps.
9. The method of claim 1 further comprising storing the position and orientation data on a computer-readable memory in communication with the processor.
10. The method of claim 1 wherein the incremental movement at the transverse speed is assumed to last for an incremental period of time, the second moment in time exceeding the first moment in time by the incremental period of time.
11. A method of tracking wood products being transversely moved across a handling area of a production line at a transverse speed, the method comprising:
obtaining position and orientation data and optimization data associated to each wood product of a first sample present in the handling area at a first moment in time;
using a processor,
anticipating position and orientation data of each wood product of the first sample at a second moment in time assuminq an incremental transverse movement based on the transverse speed and on the position and orientation data associated to each wood product of the first sample;
acquiring, from a camera, an image representing each wood product of a second sample present in at least the handling area at the second moment in time and analyzing the image to determine actual position and orientation data associated to each wood product of the second sample;
tracking each wood product from the first sample to the second sample by associating the optimization data of each wood product of the first sample to a respective wood product of the second sample based on the anticipated and actual position and orientation data; and
further comprising automatically displaying the optimization data associated with a given wood product on a display screen upon determining that an operator points towards or touches the given wood product in at least one of the first and the second images.