Method and system for veneer sheet portion stacking and unstacking
A method and system for stacking and unstacking of veneer includes using one or more veneer analysis systems to collect dimensions and quality data associated with the veneer being used to create a stack of veneer. In addition, location data for the veneer in the stack of veneer is recorded. The dimensions data, the quality data, and the location data for all the veneer in a stack of veneer is then combined into a stack of veneer profile data. The stack of veneer profile data is then correlated to the stack of veneer and stored in a database. Consequently, the location, quality, and dimensions data of the veneer making up the stack of veneer is known so that an accurate determination can be made of the volume, surface area and quality of veneer in the stack. In another example, 3D laser profiling is used to identify a veneer sheet portion that is at the top of a stack of veneer sheet portions so that the veneer sheet portion at the top of the stack can be identified and removed from the stack during unstacking.
1. A veneer stacking system comprising:
one or more imaging systems, the one or more imaging systems capturing one or more images of individual veneer portions and generating dimensions data for each individual veneer portion;
a veneer data collection and storage system, the veneer data collection and storage system receiving the dimensions data for each individual veneer portion, the veneer data collection and storage system correlating the dimensions data for each individual veneer portion with that individual veneer portion and storing the dimensions data for each individual veneer portion;
a robot control system, the robot control system receiving the dimensions data for each individual veneer portion, the robot control system generating robot control signal data representing robot control signals based, at least in part, on the dimensions data for each individual veneer portion;
at least one veneer stacking robot, the at least one veneer stacking robot receiving the robot control signals and, in response to the robot control signals, placing each individual veneer portion onto a stack of individual veneer portions, wherein,
as each individual veneer portion is moved onto the stack of individual veneer portions, location data indicating the location and orientation of each individual veneer portion is collected by the veneer data collection and storage system, the veneer data collection and storage system then correlating and storing the dimensions data and the location data for each individual veneer portion moved onto the stack of individual veneer portions, further wherein,
when the stack of individual veneer portions is completed, the veneer data collection and storage system collecting the dimensions data and the location data for each individual veneer portion moved onto the stack of individual veneer portions to generate stack profile data for the stack of individual veneer portions, the stack profile data including data indicating the dimensions data and the location data for each individual veneer portion included in the stack of individual veneer portions; and
a stack identifier mechanism, the stack identifier mechanism being assigned to the stack of individual veneer portions associating the stack profile data for the stack of individual veneer portions with the stack of individual veneer portions.
2. The veneer stacking system of claim 1 wherein the individual veneer portions are veneer strips.
3. The veneer stacking system of claim 1 wherein the individual veneer portions are partial sheets of veneer.
4. The veneer stacking system of claim 1 wherein the stack identifier mechanism is selected from the group of stack identifier mechanisms comprising:
a UPC code on the stack of individual veneer portions;
a printed UPC code attached to the stack of individual veneer portions;
a UPC code on a pallet holding the stack of individual veneer portions;
an RFID tag on the stack of individual veneer portions;
an RFID tag in the stack of individual veneer portions;
an RFID tag on a pallet holding the stack of individual veneer portions;
a visual identifier on the stack of individual veneer portions;
a printed visual identifier on the stack of individual veneer portions; and
a visual identifier on a pallet holding the stack of individual veneer portions.
5. The veneer stacking system of claim 1 further comprising one or more imaging systems, the one or more imaging systems capturing one or more images of the individual veneer portions and generating dimensions data and quality data for each individual veneer portion, further wherein,
the veneer data collection and storage system receives the dimensions data and the quality data for each individual veneer portion, the veneer data collection and storage system correlating the dimensions data and quality data for each individual veneer portion with that individual veneer portion and storing the dimensions data and quality data for each individual veneer portion, further wherein,
the robot control system receives the dimensions data and quality data for each individual veneer portion, the robot control system generating robot control signal data representing robot control signals based, at least in part, on the dimensions data and/or the quality data for each individual veneer portion, further wherein,
the at least one veneer stacking robot receives the robot control signals and, in response to the robot control signals, places each individual veneer portion onto a stack of individual veneer portions, further wherein,
as each individual veneer portion is moved onto the stack of individual veneer portions, location data indicating the location and orientation of each individual veneer portion is collected by the veneer data collection and storage system, the veneer data collection and storage system then correlating and storing the dimensions data, the quality data, and the location data for each individual veneer portion moved onto the stack of individual veneer portions, further wherein,
when the stack of individual veneer portions is completed, the veneer data collection and storage system collects the dimensions data, the quality data, and the location data for each individual veneer portion moved onto the stack of individual veneer portions to generate stack profile data for the stack of individual veneer portions, the stack profile data including the dimensions data, the quality data, and the location data for each individual veneer portion included in the stack of individual veneer portions.
6. The veneer stacking system of claim 1 wherein the individual veneer portions are selected from the group of individual veneer portions comprising:
strips of veneer;
partial sheets of veneer; and
full sheets of veneer.
7. A veneer stacking method comprising:
capturing one or more images of individual veneer portions;
generating dimensions data for each individual veneer portion;
correlating the dimensions data for each individual veneer portion with that individual veneer portion;
generating robot control signal data representing robot control signals based, at least in part, on the dimensions data for each individual veneer portion;
sending the robot control signals to at least one veneer stacking robot;
using the at least one veneer stacking robot, in response to the robot control signals, to place each individual veneer portion onto a stack of individual veneer portions;
generating location data indicating the location and orientation of each individual veneer portion as each individual veneer portion is moved onto the stack of individual veneer portions;
collecting the dimensions data and the location data for each individual veneer portion moved onto the stack of individual veneer portions when the stack of individual veneer portions is completed to generate stack profile data for the stack of individual veneer portions, the stack profile data including the dimensions data and the location data for each individual veneer portion included in the stack of individual veneer portions; and
assigning a stack identifier to the stack of individual veneer portions, the stack identifier associating the stack profile data for the stack of individual veneer portions with the stack of individual veneer portions.
8. The veneer stacking method of claim 7 wherein the individual veneer portions are veneer strips.
9. The veneer stacking method of claim 7 wherein the individual veneer portions are partial sheets of veneer.
10. The veneer stacking method of claim 7 wherein the stack identifier is selected from the group of stack identifiers comprising:
a UPC code on the stack of individual veneer portions;
a printed UPC code attached to the stack of individual veneer portions;
a UPC code on a pallet holding the stack of individual veneer portions;
an RFID tag on the stack of individual veneer portions;
an RFID tag in the stack of individual veneer portions;
an RFID tag on a pallet holding the stack of individual veneer portions;
a visual identifier on the stack of individual veneer portions;
a printed visual identifier on the stack of individual veneer portions; and
a visual identifier on a pallet holding the stack of individual veneer portions.
11. The veneer stacking method of claim 7 further comprising:
capturing one or more images of the individual veneer portions and generating quality data for each individual veneer portion;
correlating the dimensions data and quality data for each individual veneer portion with that individual veneer portion;
generating robot control signal data representing robot control signals based, at least in part, on the dimensions data and/or the quality data for each individual veneer portion;
sending the robot control signals to at least one veneer stacking robot;
using the at least one veneer stacking robot, in response to the robot control signals, to place each individual veneer portion onto a stack of individual veneer portions;
generating location data indicating the location and orientation of each individual veneer portion as each individual veneer portion is moved onto the stack of individual veneer portions;
collecting the dimensions data, the quality data, and the location data for each individual veneer portion moved onto the stack of individual veneer portions when the stack of individual veneer portions is completed to generate stack profile data for the stack of individual veneer portions, the stack profile data including the dimensions data, the quality data, and the location data for each individual veneer portion included in the stack of individual veneer portions.
12. A top veneer portion of a stack of veneer portions identification and unstacking system comprising;
a three dimensional (3D) imaging system to identify a distance from the 3D imaging system to veneer portions in a stack of veneer portions, the 3D imaging system generating an image of a top surface of the stack of veneer portions, the image of the top surface of the stack of veneer portions generated by the 3D imaging system indicating the distance of veneer portions making up the top surface of the stack of veneer from the 3D imaging system;
a robot control system, the robot control system receiving the image of a top surface of the stack of veneer portions, the robot control system processing the image of the top surface of the stack of veneer portions to identify the veneer portion making up the top surface of the stack of veneer portions from the 3D imaging system that is closest to the 3D imaging system, the robot control system designating the veneer portion making up the top surface of the stack of veneer portions that is closest to the 3D imaging system as the veneer portion that is at the top of the stack of veneer portions, the robot control system generating robot control signal data representing robot control signals;
at least one veneer stacking robot, the at least one veneer stacking robot receiving the robot control signals and, in response to the robot control signals, unstacking the veneer portion designated as the veneer portion that is at the top of the stack of veneer portions before unstacking any of the other veneer portions making up the top surface of the stack of veneer.
13. The system of claim 12 wherein the 3D imaging system is a laser profiling system.
14. The system of claim 12 wherein the image of the top surface of the stack of veneer portions generated by the 3D imaging system indicates the distance of veneer portions making up the top surface of the stack of veneer from the 3D imaging system using grey scale imaging.
15. The system of claim 12 wherein the image of the top surface of the stack of veneer portions generated by the 3D imaging system indicates the distance of veneer portions making up the top surface of the stack of veneer from the 3D imaging system using color imaging.
16. The system of claim 12 wherein the individual veneer portions are selected from the group of individual veneer portions comprising:
strips of veneer; and
partial sheets of veneer.
17. The system of claim 12 further comprising:
one or more imaging systems, the one or more imaging systems capturing one or more images of the individual veneer portions and generating dimensions data for each individual veneer portion;
a center of mass analysis system, the center of mass analysis system receiving the dimensions data for each individual veneer portion, the center of mass analysis system analyzing the dimensions data to generate center of mass data indicating a location on each individual veneer portion from which the individual veneer portion should be picked up to avoid damaging the individual veneer portion, wherein,
the center of mass data is provided to the robot control system, the robot control system processing the image of the top surface of the stack of veneer portions and the center of mass data to designate the top of the stack of veneer portion and the location on the designated top of the stack of veneer portion from which the designated top of the stack of veneer portion should be picked up, the robot control system generating robot control signal data representing robot control signals; and
the at least one veneer stacking robot, in response to the robot control signals, picking up the veneer portion designated as the veneer portion that is at the top of the stack of veneer portions at the identified location on the designated top of the stack of veneer portion from which the designated top of the stack of veneer portion should be picked up, the at least one veneer stacking robot then unstacking the veneer portion designated as the veneer portion that is at the top of the stack of veneer portions before unstacking any of the other veneer portions making up the top surface of the stack of veneer.
18. A method of unstacking a stack of veneer portions comprising;
generating a three dimensional (3D) image of a top surface of a stack of veneer portions, the 3D image of the top surface of the stack of veneer portions indicating a distance of veneer portions making up the top surface of the stack of veneer from a position above the top surface of the stack of veneer;
processing the image of the top surface of the stack of veneer portions to identify the veneer portion making up the top surface of the stack of veneer portions that is closest to the position above the top surface of the stack of veneer;
designating the veneer portion making up the top surface of the stack of veneer closest to the position above the top surface of the stack of veneer as the veneer portion that is at the top of the stack of veneer portions;
generating robot control signal data representing robot control signals;
sending the robot control signals to at least one unstacking robot which in response to the robot control signals unstacks the veneer portion designated as the veneer portion that is at the top of the stack of veneer portions before unstacking any of the other veneer portions making up the top surface of the stack of veneer.
19. The method of claim 18 wherein the 3D image of the top surface of the stack of veneer portions is obtained by a 3D imaging system that is a laser profiling system.
20. The method of claim 18 wherein the image of the top surface of the stack of veneer portions indicates the distance of veneer portions making up the top surface of the stack of veneer from a position above the top surface of the stack of veneer using grey scale imaging.
21. The method of claim 18 wherein the image of the top surface of the stack of veneer portions indicates the distance of veneer portions making up the top surface of the stack of veneer from a position above the top surface of the stack of veneer using color imaging.
22. The method of claim 18 wherein the individual veneer portions are selected from the group of individual veneer portions comprising:
strips of veneer; and
partial sheets of veneer.
23. The method of claim 18 further comprising:
capturing one or more images of the individual veneer portions and generating dimensions data for each individual veneer portion;
processing the dimensions data for each individual veneer portion to generate center of mass data indicating a location on each individual veneer portion from which the individual veneer portion should be picked up to avoid damaging the individual veneer portion;
processing the image of the top surface of the stack of veneer portions and the center of mass data to designate the top of the stack of veneer portion and the location on the designated top of the stack of veneer portion from which the designated top of the stack of veneer portion should be picked up;
generating robot control signal data representing robot control signals; and
sending the robot control signals to at least one unstacking robot which, in response to the robot control signals, picks up the veneer portion designated as the veneer portion that is at the top of the stack of veneer portions at the identified location on the designated top of the stack of veneer portion from which the designated top of the stack of veneer portion should be picked up and unstacks the designated top of the stack of veneer portion before unstacking any of the other veneer portions making up the top surface of the stack of veneer.