AU2021204196B2 - A timber processing method, a timber processing system and components thereof - Google Patents

Abstract

A timber processing method, a timber processing system and components thereof are disclosed. In one aspect, there is provided a method performed by a control system for an in-feed assembly of a timber processing system, wherein the method includes: actuating a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces; receiving one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; actuating an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a robotic stacking tool; receiving feedback that the progressed notched timber piece has been collected by the robotic tool; and actuating the marshalling system to enable progression of another piece of notched timber.

Description

A TIMBER PROCESSING METHOD, A TIMBER PROCESSING SYSTEM AND COMPONENTS THEREOF

Related Applications

[0001] This application claims priority from Australian Provisional Application 2015900256 filed 29 January 2015, and is a divisional application of Australian Patent Application 2016200534, the entire disclosure of both of which is incorporated by reference herein.

Field of Invention

[0002] The present invention relates to processing of timber.

Background

[0003] Timber processors construct and sell stacks of timber for use by customers in various industries. The lengths, quantity, and profile in which these stacks are constructed are typically defined by the client at the point of sale.

[0004] In some locations, timber processors must manually construct stacks as per their customer's specification. Manually stacking timber is a physically demanding and strenuous task and requires a significant workforce to keep up with demand. The equipment used to process the timber is capable of operating at a much greater rate than operators can pack it, resulting in undesired dwell times.

[0005] There is therefore a need to alleviate one or more of the above-mentioned problems or provide a commercial alternative.

[0006] The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as, an acknowledgement or admission or any form of suggestion that prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.

Summary

[00071 In one aspect there is provided a method performed by a control system for an in-feed assembly of a timber processing system, wherein the method includes: actuating a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces on the conveyor system; receiving, from a measurement system, one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; actuating an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a robotic stacking tool; receiving feedback from the alignment system that the progressed notched timber piece has been collected by the robotic tool; and actuating the marshalling system to enable progression of another piece of notched timber in response to the feedback.

[0008] In certain embodiments, the marshalling system includes: one or more stopper members movable between an extended and retracted position; and

one or more stopper actuators, controllable by the control system, for moving the one or more stopper members; wherein the method includes the control system controlling actuation of the one or more stopper actuators to move the one or more stopper members to an extended state to thereby restrict progression of the remaining notched timber pieces on the conveyor system when the progressed notched timber piece is being measured or aligned.

[0009] In certain embodiments, the method includes controlling actuation of the one or more stopper members in response to receiving a detection signal from a timber detection system, wherein the detection signal is indicative of timber being conveyed upon the conveyor system.

[0010] In certain embodiments, the method includes the control system: receiving an end signal from an end-of-conveyor sensor system when the progressed notched timber piece has travelled to the end of the conveyor and controlling actuation of the alignment system in response to receiving the end signal.

[0011] In certain embodiments, the alignment system includes: a movable finger component; a movable finger actuator controllable by the control system; and a static finger component; wherein the method includes the control system controlling actuation of the movable finger actuator such that faces of the notches of the progressed notched timber piece are engaged between the movable and static finger components.

[0012] In another aspect there is provided an in-feed assembly for a timber processing system, including: a conveyor system for receiving and transferring notched timber pieces; a marshalling system, controllable by a control system, for enabling progression of one of the notched timber pieces along the conveyor system whilst withholding progression of the remaining notched timber pieces; a measurement system, in communication with the control system, for sensing one or more spatial dimensions of the progressed notched timber piece; and an alignment system, controllable by the control system, for engaging notches of the progressed notched timber piece and positioning, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a robotic stacking tool; wherein the marshalling system is actuated by the control system to enable progression of another piece of notched timber in response to the engaged piece of notched timber being collected.

[0013] In certain embodiments, the marshalling system includes: one or more stopper members; one or more stopper actuators, controllable by the control system, for extending or retracting the one or more stopper members, wherein the one or more stopper members in an extended state restrict progression of the remaining notched timber pieces on the conveyor system.

[0014] In certain embodiments, the stopper members are actuated by the control system in response to receiving a detection signal from a timber detection system.

[0015] In certain embodiments, the in-feed assembly includes an end-of-conveyor sensor system which generates and transfers an end signal to the control system when the progressed notched timber piece has travelled to the end of the conveyor, wherein the control system actuates the alignment system in response to receiving the end signal.

[0016] In certain embodiments, the alignment system includes: a movable finger component; a movable finger actuator controllable by the control system; and a static finger component; wherein the movable finger actuator is actuated by the control system such that faces of the notches of the progressed notched timber piece are engaged between the movable and static finger components.

[00171 In another aspect there is provided a control system of an in-feed assembly for a timber processing system, wherein the control system is configured to: actuate a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces on the conveyor system; receive, from a measurement system, one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; actuate an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a robotic stacking tool; receive feedback from the alignment system that the progressed notched timber piece has been collected by the robotic tool; and actuate the marshalling system to enable progression of another piece of notched timber in response to the feedback.

[00181 In another aspect there is provided a computer readable medium including executable instructions which when executed by the control system cause the control system to perform the method of the first aspect.

[0019] In another aspect there is provided a robotic tool for engaging and disengaging timber from an in-feed assembly of a timber processing system, wherein the robotic tool includes: a mounting assembly for mounting the robotic tool to a transporting robot; a jaw engagement system, controllable by a control system, to: engage notches of a notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece for stacking; and a dislodging system, controllable by the control system, to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

[0020] In certain embodiments, the jaw engagement system includes: a movable jaw component; a jaw actuator to control movement of the movable jaw component; and a static jaw component; wherein the actuation of the jaw actuator enables the movable jaw component and the static jaw component to clamp against inner faces of the notches of the notched timber piece.

[0021] In certain embodiments, the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the dislodgement system dislodges the teeth from protruding within the notched timber piece.

[00221 In another aspect there is provided a transporting robot for collecting and transferring timber from an in-feed assembly of a timber processing system, wherein the transporting robot includes: a conveyance arrangement, controllable by a control system, for transporting a notched timber piece from the in-feed assembly to a stacking location; a jaw engagement system, controllable by the control system, to: engage notches of the notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece for stacking at the stacking location; and a dislodging system, controllable by the control system, to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

[0023] In certain embodiments, the jaw engagement system includes: a movable jaw component; a jaw actuator to control movement of the movable jaw component; and a static jaw component; wherein the actuation of the jaw actuator enables the movable jaw component and the static jaw component to clamp against inner faces of the notches of the notched timber piece.

[0024] In certain embodiments, the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the dislodgement system dislodges the teeth from protruding within the notched timber piece.

[0025] In another aspect there is provided a control system for controlling a timber processing system, wherein the control system is configured to: actuate a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces on the conveyor system; receive, from a measurement system, one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; actuate an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a transporting robot; control a jaw engagement system of the transporting robot to: engage notches of a notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; receive feedback from the alignment system that the progressed notched timber piece has been collected by the transporting robot; and actuate the marshalling system to enable progression of another piece of notched timber in response to the feedback.

[0026] In another aspect there is provided a method performed by a control system for controlling a timber processing system, wherein the method includes: actuating a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces on the conveyor system; receiving, from a measurement system, one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; and actuating an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a transporting robot; controlling a jaw engagement system of the transporting robot to: engage notches of a notched timber piece collected from the in-feed assembly; and disengaging the notches of the notched timber piece after transporting for stacking; receiving feedback from the alignment system that the progressed notched timber piece has been collected by the transporting robot; and actuating the marshalling system to enable progression of another piece of notched timber in response to the feedback.

[00271 In another aspect there is provided a method performed by a control system for a robotic tool of a timber processing system, wherein the method includes: controlling a jaw engagement system of the robotic tool to: engage notches of a notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; and controlling a dislodging system to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

[0028] In certain embodiments, the jaw engagement system includes: a movable jaw component; a jaw actuator, controllable by the control system, for moving the movable jaw component; and a static jaw component; wherein the method includes controlling actuation of the jaw actuator to move the movable jaw component to clamp with the static jaw component against inner faces of the notches of the notched timber piece.

[0029] In certain embodiments, the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the method includes controlling the dislodgement system to dislodge the teeth from protruding within the notched timber piece.

[0030] In another aspect there is provided a method performed by a control system for a transporting robot of a timber processing system, wherein the method includes: controlling a conveyance arrangement of the transporting robot to transport a notched timber piece from an in-feed assembly to a stacking location; controlling a jaw engagement system of the transporting robot to: engage notches of the notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece for stacking at the stacking location; and controlling a dislodging system to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

[0031] In certain embodiments, the jaw engagement system includes: a movable jaw component; a jaw actuator, controllable by the control system, for moving the movable jaw component; and a static jaw component; wherein the method includes controlling actuation of the jaw actuator to move the movable jaw component to clamp with the static jaw component against inner faces of the notches of the notched timber piece.

[0032] In certain embodiments, the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the method includes controlling the dislodgement system to dislodge the teeth from protruding within the notched timber piece.

[00331 In another aspect there is provided a control system for controlling a transporting robot of a timber processing system, wherein the control system is configured to: control a conveyance arrangement of the transporting robot to transport a notched timber piece from an in-feed assembly to a stacking location; control a jaw engagement system of the transporting robot to: engage notches of a notched timber piece collected from an in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; and control a dislodging system to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

[0034] In another aspect there is provided a control system for controlling a timber processing system, wherein the control system is configured to: actuate a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces on the conveyor system; receive, from a measurement system, one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; actuate an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a transporting robot; control a jaw engagement system of the transporting robot to: engage notches of a notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; receive feedback from the alignment system that the progressed notched timber piece has been collected by the transporting robot; and actuate the marshalling system to enable progression of another piece of notched timber in response to the feedback.

[0035] In another aspect there is provided a method performed by a control system for controlling a timber processing system, wherein the method includes: actuating a marshalling system to enable progression of a notched timber piece along a conveyor system whilst withholding progression of remaining notched timber pieces on the conveyor system; receiving, from a measurement system, one or more spatial dimensions of the progressed notched timber piece sensed by the measurement system; actuating an alignment system to engage notches of the progressed notched timber piece and position, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a transporting robot; controlling a jaw engagement system of the transporting robot to: engage notches of a notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; receiving feedback from the alignment system that the progressed notched timber piece has been collected by the transporting robot; and actuating the marshalling system to enable progression of another piece of notched timber in response to the feedback.

[0036] In another aspect there is provided a timber processing system that includes the transporting robot as defined herein and an in-feed assembly that includes: a conveyor system for receiving and transferring notched timber pieces; a marshalling system, controllable by the control system, for enabling progression of one of the notched timber pieces along the conveyor system whilst withholding progression of the remaining notched timber pieces; a measurement system, in communication with the control system, for sensing one or more spatial dimensions of the progressed notched timber piece; and an alignment system, controllable by the control system, for engaging notches of the progressed notched timber piece and positioning, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a robotic stacking tool; wherein the marshalling system is actuated by the control system to enable progression of another piece of notched timber in response to the engaged piece of notched timber being collected.

[00371 In certain embodiments, the marshalling system includes: one or more stopper members; and one or more stopper actuators, controllable by the control system, for extending or retracting the stopper members, wherein the one or more stopper members in an extended state restrict progression of the remaining notched timber pieces on the conveyor system.

[00381 In certain embodiments, the in-feed assembly includes an end-of-conveyor sensor system which generates and transfers an end signal to the control system when the progressed notched timber piece has travelled to the end of the conveyor, wherein the control system actuates the alignment system in response to receiving the end signal.

[00391 In certain embodiments, the alignment system includes: a movable finger component; a movable finger actuator controllable by the control system; and a static finger component; wherein the movable finger actuator is actuated by the control system such that faces of the notches of the progressed notched timber piece are engaged between the movable and static finger components.

[0040] In another aspect there is provided computer readable medium including executable instructions which configure a control system to perform any of the method aspects as described herein.

[0041] In another aspect there is provided a timber processing system including a control system, an in-feed assembly, and a transporting robot, each as defined herein.

[0042] Other aspects and embodiments will be appreciated throughout the detailed description.

Brief Description of the Figures

[0043] Example embodiments should become apparent from the following description, which is given by way of example only, of at least one preferred but non-limiting embodiment, described in connection with the accompanying figures.

[0044] Figure 1 is an isometric schematic of an example of an in-feed assembly;

[0045] Figure 2 is an isometric schematic of the in-feed assembly of Figure 1 accepting timber pieces onto the conveyor system;

[00461 Figure 3 is a plan view of the in-feed assembly of Figure 1 accepting timber pieces onto the conveyor system;

[0047] Figure 4 is a plan view of the in-feed assembly of Figure 1 where the marshalling system has restricted some of the timber pieces progressing;

[0048] Figure 5 is an isometric view of the in-feed assembly of Figure 1 where one of the timber pieces has progressed past the marshalling system and is ready to be engaged by the alignment system;

[0049] Figure 6 is a plan view of the in-feed assembly of Figure 1 where one of the timber pieces has progressed past the marshalling system and is ready to be engaged by the alignment system;

[0050] Figure 7 is an isometric view of the in-feed assembly of Figure 1 including a magnified isometric view of the stopper members of the marshalling system;

[0051] Figure 8 is an isometric view of the in-feed assembly of Figure 1 including a magnified isometric view of a measuring sensor;

[0052] Figure 9 is an isometric view of the in-feed assembly of Figure 1 including a magnified isometric view of a timber detection sensor;

[0053] Figure 10 is an isometric view of the in-feed assembly of Figure 1 including a magnified isometric view of an end of a conveyor sensor;

[0054] Figure 11 is an end view of the in-feed assembly of Figure 1 including a magnified isometric view of the alignment system;

[0055] Figure 12 is an isometric view of the in-feed assembly of Figure 1 including a magnified isometric view of an end of the movable and static finger of the alignment system;

[0056] Figure 13 is an isometric view of a robotic tool;

[00571 Figure 14 is an isometric view of the robotic tool of Figure 13 which is approaching a timber piece which is awaiting pickup at the in-feed assembly;

[0058] Figure 15 is a plan view of the robotic tool of Figure 13 which is approaching a timber piece which is awaiting pickup at the in-feed assembly;

[0059] Figure 16 is a plan view of the robotic tool of Figure 13 which has engaged a timber piece;

[0060] Figure 17 is a front view of an example of a laydown stack of timber pieces;

[0061] Figure 18 is a side view of the laydown stack of Figure 17;

[0062] Figure 19 is a front view of an example of an upright stack of timber pieces;

[0063] Figure 20 is a side view of the upright stack of Figure 19;

[0064] Figure 21 is a flowchart representing a method performed by a control system for operating the in-feed assembly;

[0065] Figure 22 is a flowchart representing a method performed by the control system to instruct a robot and the robotic tool to construct a laydown stack;

[0066] Figure 23 is a flowchart representing a method performed by the control system to instruct the robot and the robotic tool to construct a single upright stack;

[00671 Figures 24A and 24B are flowcharts representing a method performed by the control system to instruct the robot and the robotic tool to construct a dual upright stack; and

[0068] Figure 25 is a system diagram of a timber processing system.

Detailed Description of Example Embodiments

[00691 The following modes, given by way of example only, are described in order to provide a more precise understanding of the subject matter of a preferred embodiment or embodiments.

[00701 Referring to Figures 1 to 12 there is shown an in-feed assembly 100 for a timber processing system 2500. The in-feed assembly 100 includes a conveyor system 120, a marshalling system 161, a measurement system 2534, and an alignment system 159. Figure additionally illustrates a control system 2510 that is in electrical communication with components of the in-feed assembly 100.

[00711 The conveyor system 120 is configured to receive and transfer notched timber pieces 210. The conveyor system 120 can be supported upon a frame 100 provided in the form of a table supported by legs 170. As shown in Figures I to 3, the conveyor system 120 includes a plurality of driven rollers 122 that convey timber pieces 210 fed upon the in-feed assembly 100 from a first end 101 of the in-feed assembly 100 toward a second end 102. The timber pieces 210 can be fed onto the conveyor system 120 manually or automatically from another system. As shown in Figures 1 and 2, the rollers 122 are operatively coupled to a conveyor drive 2532 such as a motor. The conveyor drive 2532 is in electrical communication with the control system 2510 such that the conveyor system 120 can be selectively operated when required.

[0072] The marshalling system 161 is in communication with the control system 2510 and is configured to enable progression of one of the notched timber pieces 210 along the conveyor system 120 whilst withholding progression of the remaining notched timber pieces 210 which rest on the conveyor system 120. The marshalling system 161 includes one or more stopper members 160a-160e, wherein each stopper member 160a-160e is movable between an extended and retracted position. The one or more stopper members 160a-160e are supported upon a beam 130 that extends across opposing sides 180 of the frame 110 of the in-feed assembly 100, wherein the one or more stopper members 160a-160e are spaced apart according to predefined notch distances for various types of timber pieces 210. The one or more stopper members 160a-160e move in a generally downward direction relative to the beam when moving to the extended state, and the one or more stopper member move in a generally upward direction relative to the beam when moving to the retracted state.

[00731 As shown in Figure 5, individual timber pieces 210 are indexed past the marshalling system 161 whilst the remainder of the timber pieces 210 are prevented from progressing past the extended stopper members 160a-160e. At least some of the extended stopper members 160a-160e rest within notches 211 of the first timber piece 210 that is restricted from progressing past the marshalling system 161. The marshalling system 161 also includes one or more stopper actuators 2536 (see Figure 25) which are in electrical communication with the control system 2510, wherein the control system 2510 actuates the stopper actuators 2536 to move one or more of the stopper members 160a-160e to the extended state to thereby restrict progression of the remaining notched timber pieces 210 on the conveyor system 120 when the progressed notched timber piece 210 is being measured or aligned. The stopper actuators 2536 may be provided in the form of pneumatic cylinders that are actuated in response to an electrical signal received from the control system 2510. As will be discussed in more detail below, the control system 2510 actuates the stopper members 160a-160e in response to receiving a detection signal from a timber detection system 2542 which is in electrical communication with the control system 2510, wherein the detection signal is indicative of timber 210 being conveyed upon the conveyor system 120. The marshalling system 161 is configured to be actuated by the control system 2510 to enable progression of another piece of notched timber in response to the engaged piece of notched timber being collected by the robotic tool.

[0074] Referring to Figures 8 and 25, the measurement system 2534 is in communication with the control system 2510 and is configured to sense one or more spatial dimensions of the progressed notched timber piece 210. The measurement system 2534 may be provided in the form of a measurement sensor that is mounted upon the elevated beam 130 extending across opposing sides of the frame 110 of the in-feed assembly 100. The measurement sensor 2534 can be provided in the form of a laser sensor, ultrasonic sensor, or the like which is used to measure the height of the progressed timber piece 210 upon the in-line assembly. The sensed measurement is then transferred to the control system 2510 for recordal.

[00751 Referring to Figures 5, 6, 7, 11 and 12, the alignment system 159 is in the communication with the control system 2510, for engaging the notches 211 of the progressed notched timber piece 210 and positioning, based on the one or more sensed spatial dimensions, the progressed notched timber piece 210 for collection by a robotic tool 1300 of an industrial robot 2560. More specifically, referring to Figures 11, 12 and 25, the alignment system 159 includes a movable finger component 150, a movable finger actuator 2538 in electrical communication with the control system 2510, and a static finger component 155 that is mounted to the frame 110 of the in-feed assembly 100. The control system 2510 actuates the movable finger actuator 2538 via an electrical signal such that faces of the notches 211 of the progressed notched timber piece 210 are engaged between the movable and static finger components 150, 155. The moveable finger can be mounted upon a movable arm 158 which is moved by the movable finger actuator 2538. The alignment system 159 advantageously enables the engaged timber piece 210 to be aligned in a repeatable pick-up position for the industrial robot 2560 to collect the timber 210.

[0076] As shown in Figure 25, the in-feed assembly 100 can also include a timber detection system 2542 that is in electrical communication with the control system 2510. The timber detection system 2542 generates a detection signal in response to detecting a timber piece 210 at the marshalling system 161 such that the stopper members 160a-160e are actuated by the control system 2510 in response to receiving the detection signal. The timber detection system 2542 can also indicate to the control system 2510 when the timber piece 210 has cleared the marshalling system 161 such that the stopper members 160a-160e can be extended to prohibit additional timber pieces 210 travelling to the end of the in-feed assembly 100. In addition, the indication of the timber piece 210 clearing the marshalling system 161 results in the control system 2510 actuating the alignment system 159 as discussed above.

[00771 Referring to Figures 1, 10 and 25, the in-feed assembly 100 can also include an end-of-conveyor sensor system 2540 that generates and transfers an end signal to the control system 2510 when the progressed notched timber piece 210 has travelled to the end of the conveyor system 120. The control system 2510 actuates the alignment system 159 in response to receiving the end signal.

[0078] Referring to Figures 13 to 16 and 25 there is shown an example of the robotic tool 1300 which is capable of being coupled to an industrial robot 2560 (see Figure 25). As shown in Figure 25, the industrial robot 2560 can be in communication with the control system 2510, wherein the industrial robot 2560 is in turn in electrical communication with the robotic tool 1300. In particular, the robotic tool 1300 is configured to engage and disengage timber pieces 210 from the in-feed assembly 100 of a timber processing system 2500. The robotic tool 1300 includes a mounting assembly1310, a jaw engagement system 1390, and a dislodging system 1350. As shown in Figures 13 to 16, the robotic tool 1300 includes an elongate body 1360 with the mounting assembly 1310 protruding from the centre of the elongate body 1360.

[00791 The mounting assembly 1310 is configured to enable the robotic tool 1300 to be mounted to a roll face of the industrial robot 2560. The mounting assembly 1310 may also provide an electrical interface to enable the industrial robot 2560 to be in electrical communication with the robotic tool 1300.

[0080] Thejaw engagement system 1390 is electrically controlledbythe control system 2510, to engage the notches 211 of a notched timber piece 210 collected from the in-feed assembly 100, and disengage the notches 211 of the notched timber piece 210 for stacking. The jaw engagement system 2510 includes a movable jaw component 1330 which is movable relative to the body 1360, a jaw actuator 2552 to control movement of the movable jaw component 1330, and a static jaw component 1320 which is fixed relative to the body 1360 of the robotic tool 1300. The actuation of the jaw actuator 2552 by the control system 2510 enables the movablejaw component 1330 and the static jaw component 1320 to clamp against inner faces 211a of the notches 211 of the notched timber piece 210.

[00811 At least one of the movable jaw component 1330 and the static jaw component 1320 include teeth 1332, 1322 to protrude into the inner faces of the notches of the notched timber piece 210. As shown in Figure 15, preferably the movable jaw component 1330 and the static jaw component 1320 include spiked teeth 1332, 1322 which pierce the face 211a of the notches to firmly hold each timber piece 210 in position while they are transported between the pickup location at the in-feed assembly 100 and the packing area. The dislodgement system 1350 includes a knock-off arm 1350 that can be actuated by a disengagement actuator 2554 under control of the control system 2510 to dislodge the teeth 1332, 1322 from protruding within the notched timber piece 210 such that the timber piece 210 does not remain in contact with the robotic tool 1300. The knock off arm 1350 is mounted at the rear face of the jaw actuator. The knock off arm 1350 can be actuated by a dislodgement actuator 2554 which is in communication with the control system 2510.

[0082] Referring to Figure 25 there is shown a functional block diagram of a timber processing system 2500 including the control system 2510 which is in communication with the in-feed assembly 100 and the industrial robot 2560 which is in turn in communication with the robotic tool 1300. The control system 2510 can be provided in the form of a processing system including a processor 2512, memory 2514, an input device 2516, an output device 2518 and an interface 2520 coupled together via a bus 2522. Components of the in-feed assembly 100 and the industrial robot 2560 are in communication with the control system 2510 via the interface 2520.

[0083] The memory 2514 of the control system 2510 has stored therein a computer program for automating the operation of the in-feed assembly 100 and the industrial robot. In particular, the computer program can be provided in the form of a computer readable medium including executable instructions. The memory 2514 can also have stored therein a number of variables such as flags which are used by the control system 2510 to determine the stacking operation for a particular timber stack. The memory 2514 can also have stored therein customer parameters for the stack of timber that is to be constructed. The customer parameters can be input by the operator via the input device 2516 of the control system 2510. The memory 2514 also has stored therein threshold data indicative of an acceptance tolerance for a timber piece for stacking. Each piece of data described above is stored in the memory 2514 will be discussed in more detail below with reference to Figures 22, 23, 24A and 24B.

[0084] Referring to Figure 21 there is shown a flowchart representing a method 2100 performed by the timber processing system 2500. In particular, at step 2105 the method 2100 includes an operator initialising parameters using the input device 2516 of the control system 2510. At step 2110, the method 2100 includes the control system 2510 initialising the marshalling and alignment actuators 2436, 2538. At step 2115, the method 2100 includes timber 210 being fed onto the in-feed assembly 100. At step 2120, the method 2100 includes the control system 2510 controlling actuation of a driving operation of the conveyor system 120 to convey the timber pieces 210 toward the marshalling system 161. At step 2125, the method 2100 includes the in-feed assembly 100 detecting the timber piece 210 at the marshalling system 161 via the detection sensor which is transferred back to the control system 2510. At step 2130, the method 2100 includes the control system controlling the marshalling system 161 to retract the stopper actuators 161a-161e and index the timber piece 210.

[0085] At step 2135, the method 2100 includes the measurement system 2534 determining the height of the timber piece 210, wherein the measurement data is transferred back to the control system 2510 for recordal in memory 2514. At step 2140, the method 2100 includes the timber detection system 2542 detecting that the timber piece 210 has progressed past the marshalling system 161. At step 2145, the stopper members 160a-160e are actuated by the control system 2510. At step 2150, the method 2100 includes detecting that the timber piece 210 has reached the end of the conveyor system 120 via the end of conveyor sensor 2540. At step 2155, the method 2100 includes the alignment system 159 being actuated by the control system 2510 to align the timber piece 210 via the notches 211. At step 2160, the control system 2510 records data in memory 2514 indicative of a flag representing that the timber 210 is ready to be picked up by the industrial robot 2560.

[00861 Referring to Figure 17 and 18 there is shown an example of a laydown stack 1700 that the industrial robot 2560 canproduce under control from the control system 2510. As will be discussed herein, the timber pieces 210 have a rectangular cross-sectional profile having a pair of shorter faces and a pair of longer faces. Continuing with reference to Figures 17 and 18, the laydown stack 1700 begins with two columns of base rows 1710 laid down with the timber pieces 210 vertically orientated in a side-by-side manner such that the timber pieces 210 rest on their shorter face. The number of vertically orientated pieces is defined by the operator while inputting the stacking parameters via the input device 2516 of the control system 2510. Once the base rows 1710 have been constructed, two layers of strippers 1720 are placed horizontally over the outer notches of each base row 1710. The strippers 1720 may also be timber pieces 210 received from the in-feed assembly 100. The strippers 1720 define voids to be defined in the stack 1700 such that tines of a forklift can lift the supported timber pieces 210 from the base rows 1710. After the strippers 1720 have been placed, the base standard rows 1730 are constructed and stacked two layers high. Base standard rows 1730 including horizontally stacked timberpieces 210 (i.e. timber pieces 210 restring upon the longer face) rest over the centre of the base rows 1710. Finally, the standard rows 1740 are placed to complete the stack 1700. Standard rows 1740 include two columns of horizontally orientated timber pieces 210 stacked above the two columns of the base rows 1730. The number of pieces used in the base standard rows 1730 and the base rows 1710 are the same, and are defined by the operator prior to constructing the stack 1700. As can be seen in Figure 17, the standard rows 1740 that are stacked effectively include two stack portions. As will be discussed in later portions of the specification, the stack portions are referred to as stack A and stack B.

[00871 Referring to Figure 19 and 20 there is shown an example of an upright stack 1900 that the industrial robot 2560 can produce under control from the control system 2510. Construction of an upright stack 1900 begins with a base row 1910 that includes vertical orientated pieces 210. The number of vertically orientated pieces 210 is defined by the operator whilst inputting stacking parameters via the input device 2516 of the control system 2510. Once the base row 1910 has been completed, two strippers 1920 are placed vertically into the notches 211 of the base row 1910. Again, as discussed above, the strippers 1920 may also be timber pieces 210 collected from the in-feed assembly 100. An additional base row 1930 is then constructed over the stripper pieces 1920 to form the base of the stack 1900. Finally, the standard rows 1940 are placed over the base to complete the stack 1900. A top row 1950 of timber pieces 210 may be placed on top of the standard rows 1940 which includes less timber pieces 210 than a standard row 1940. Standard rows 1940 include timber pieces210 stacked horizontally above the base rows 1910, 1930. The number of horizontally orientated pieces per standard row 1940 and the total number of timber pieces 210 are defined by the input of the operator using the input device 2516 of the control system 2510. The operator may also decide whether one or two upright stacks are created per cycle. As will be discussed in relation to Figures 24A and 24B, the two upright stacks can be referred to as stack A and stack B.

[0088] Referring to Figure 22 there is shown a flowchart representing a method 200 performed by the control system 2510 for controlling the timber processing system 2500 to construct a laydown stack 1700 having two stack portions, namely stack A and stack B. In particular, at step 2210, the method 2200 includes configuring the variables of the control system 2510 that are stored in memory. At step 2220, the method 2200 includes the control system 2510 controlling the robotic tool 1300 to pickup a timber piece 210. At step 2230, the method 2200 includes the control system 2510 determining whether a stack B flag has been set in memory 2414. If it has not, the method 2200 proceeds to step 2240, otherwise the method 2200 proceeds to step 2270. At step 2240, the method 2200 includes packing stack A. The method 2200 then proceeds to step 2250 where the control system 2510 sets the stack B flag in memory 2514 to indicate that stack B is ready to be constructed. In the event that the determination at step 2240 was successful, the method 2200 proceeds to step 2260 where the method 2200 includes packing stack B. The method 2200 then proceeds to step 2270 to clear the stack B flag set in memory 2514. After completing step 2250 or step 2270, the method 2200 proceeds to step 2280 where the control system 2510 determines whether the laydown stack has been completed. In particular, the method 2200 includes determining whether the stack B flag is set or not in memory, wherein if the stack B flag is set then the stack 1700 has not been completed, and if the stack B flag has been cleared then the construction of the stack 1700 has been completed. In the event that the stack 1700 has not been completed, the method proceeds back to step 2220, otherwise the method 2200 ends.

[0089] Referring to Figure 23 there is shown a flowchart representing a method 2300 performed by the control system 2510 for controlling the timber processing system 2500 to construct a single upright stack. In particular, at step 2305, the method 2300 includes configuring variables in memory 2514. This can be based on the input provided by the operator as well as setting variables to predefined default parameters. At step 2307, the method 2300 includes the control system 2510 controlling the robotic tool 1300 to pickup a timber piece 210 from the in-feed assembly 100.

[0090] At step 2310, the method 2300 then includes determining if a stripper piece 1720 is required. In particular, the control system 2510 may review a stripper flag set in memory 2514 to determine whether a stripperpiece 1720 is required. If a stripper 1720 is notrequired, the method 2300 proceeds to step 2315 the where a timber piece 210 is packed as per a standard row 1740. The method 2300 then determines if the stack 1700 is completed at step 2325. If so, the method 2300 ends, otherwise the method 2300 proceeds back to step 2307 to pickup the next piece of timber 210 from the in-feed assembly 100. In the event that a stripper 1720 is required, the method 2300 proceeds to step 2320. At step 2320, the method 2300 includes determining if the height of the timber piece 210 is within an acceptable threshold range based on threshold data stored in memory 2514. In the event that it is not, the control system 2510 instructs the industrial robot to reject the timber at step 2330. Otherwise, the method 2300 proceeds to step 2335 where the timber piece 210 is packed as a stripper 1720.

[0091] At step 2340, the control system 2510 then determines whether the laying of the strippers 1720 has been completed. This may be determined with reference to variables stored in memory 2514 which are updated each time a stripper 1720 has been placed. In the event that the strippers 1720 have been completed, the method 2300 proceeds back to step 2307 to pickup the next piece of timber 210. Otherwise, the method 2300 proceeds onwards to step 2345 where the control system 2510 determines whether a stripper plank is required.

The requirement for a stripper plank can be defined by the operator when defining the stack to be constructed via the input device of the control system 2510. The control system 2510 can refer to a stripper plank flag stored in memory 2514 to determine if a stripper plank is required. In the event the stripper plank is required, the method 2300 proceeds to step 2350 where the control system 2510 enables the operator to manually place a stripper plank onto the partially constructed stack. In particular, the control system 2510 pauses the movement of the industrial robot, prompts the operator via the output device 2518 to place the stripper plank on the stack, receives input from the operator via input device 2516 indicating that the stripper plank has been placed, and resuming operation by proceeding back to step 2307.

[0092] Referring to Figures 24A and 24B, there is shown a method 2400 performed by the control system 2510 for constructing dual upright stacks. The dual upright stacks include stack A and stack B. In particular, at step 2402 the method 2400 includes configuring the variables set in the memory 2514 of the control system 2510. At step 2403, the method 2400 includes controlling the robotic tool 1300 to pickup a timber piece 210 from the in-feed assembly 100. At step 2404 the method 2400 includes the control system 2510 determining whether the first base row 1910 of stack A is complete. In the event of a negative determination, the method 2400 proceeds to step 2406 where the timber piece 210 is used to construct stack A, and then the method 2400 proceeds back to step 2403 to pick up another piece of timber 210.

[0093] In the event of a positive determination at step 2404, the method 2400 proceeds to step 2408 to determine whether the first base row 1910 of stack B has been completed. In the event of a negative determination, the method 2400 proceeds to step 2410 to determine whether the strippers 1920 for stack A have been completed. In the event of a positive determination, the method 2400 continues to step 2416 which includes the control system 2510 instructing the industrial robot 2560 and robotic tool 1300 to pack the timber piece 210 as part of the first base row 1910 for stack B. Otherwise, in the event of a negative determination at step 2410, the method 2400 determines at step 2412 whether the timber 210 is outside a tolerance range in relation to the one or more spatial measurements captured and recorded by the in-feed assembly 100. In the event that the one or more spatial measurements of the timber 210 are within the tolerance range, the method proceeds to step 2416 as discussed above. In the event that the one or more spatial measurements of the timber 210 are not within the tolerance range, the method proceeds to pack a stripper 1920 for stack A at step 2414, wherein the method 2400 then returns to step 2403 to pick up another timber piece 210.

[0094] In the event of a successful determination at step 2408, the method 2400 proceeds to step 2418 wherein the control system 2510 determines whether the strippers 1910 for stack A have been completed. In the event of a negative determination, the method 2400 proceeds to step 2420 to determine whether the timber 210 is outside an acceptable tolerance range. In the event of a negative determination in relation to step 2420, the method 2400 proceeds to step 2422 which includes the control system 2510 controlling the industrial robot 2560 and robotic tool 1300 to pack the timber 212 as a stripper 1910 for stack A. In the event of a positive determination in relation to step 2420, the method 2400 includes rejecting the timber piece 210 that is currently engaged by the robotic tool 1300.

[0095] In the event of a successful determination at step 2418, the method 2400 includes the control system 2510 determining whether a stripper plank is required. In the event of a negative determination, the method 2400 proceeds to step 2438. In the event of a positive determination, the method 2400 proceeds to step 2428 where the control system 2510 determines whether the strippers 1910 for stack B have been completed. In the event of a positive determination for step 2428, the method 2400 includes the control system 2510 determining whether the timber 210 is outside the tolerance range based on the threshold data stored in memory 2514. In the event that the timber 210 is outside the tolerance range, the timber 210 is rejected at step 2436, otherwise the control system 2510 instructs the robotic tool 1300and industrial robot 2560 to pack stack B strippers 1910 at step 2432. In the event that a successful determination is reached for step 2428, the method 2400 includes the stripper planks being packed at step 2434. Step 2434 can be performed manually, wherein the control system 2510 prompts the operator to stack a stripper plank via the output device 2418. Input can be received from the input device 2416 of the control system 2510 indicating that the operator has completed stacking the stripper plank such that the method proceeds to step 2438.

[00961 At step 2438, the method 2400 includes the control system 2510 determining whether the first base 1910 for stack A has been completed. In the event of a negative determination, the method proceeds to step 2440, wherein the control system 2510 determines whether the strippers 1920 for stack B have been completed. In the event of a positive determination the method 2400 proceeds to step 2446, otherwise the method 2400 proceeds to step 2442 where the control system 2510 determines whether the timber 210 is outside an acceptable tolerance. If the timber 210 is within the tolerance, the method 2400 proceeds to step 2446, otherwise the method 2400 proceeds to step 2444 where the timber 210 is packed as a stack B stripper 1910. At step 2446, the timber 210 that is engaged by the robotic tool 1300 is packed as part of the second base row 1930 for stack A under control from the control system 2510. After completing steps 2444 or 2446, the method 2400 proceeds back to 2403 to pickup another timber piece 210 from the in-feed assembly 100.

[0097] In the event that there is a positive determination in relation to step 2438, the method 2400 proceeds to step 2448 wherein the method 2400 includes the control system 2510 determining whether the strippers 1920 for stack B have been completed. In the event of a negative determination, the method 2400 proceeds to step 2450 wherein the control system 2510 determines whether the timber 210 is outside an acceptable tolerance. In the event that the timber 210 is outside the tolerance, the timber 210 is rejected at step 2456, otherwise the control system 2510 controls the industrial robot 2560 and the robotic tool 1300 to pack the engaged timber 210 as s stripper 1920 for stack B at step 2452. After completing step 2456 or step 2452, the method 2400 proceeds back to step 2403.

[0098] In the event that there is a positive determination in relation to step 2448, the method 2400 proceeds to step 2454, wherein the control system 2510 determines whether the second base row 1930 for the stack B has been completed. In the event of a negative determination, the method proceeds to step 2458 wherein the control system 2510 stacks the second base row for stack B. The method 2400 then proceeds to step 2403. In the event that there is a negative determination in relation to 2454, the method 2400 proceeds to step 2460.

[0099] At step 2460, the method 2400 includes the control system 2510 determining if the stack B flag is set. In the event of a negative determination, the method 2400 proceeds to step 2462 wherein stack A is stacked under control by the control system 2510. The method 2400 then proceeds to step 2466 which includes setting the stack B flag in memory 2514. In the event of a positive determination at step 2460, the method proceeds to 2464 where stack B is stacked. The method 2400 then proceeds to step 2468 which includes clearing the stack B flag in memory 2414. After completing either step 2568 or step 2466, the method proceeds to step 2470 which includes the control system 2510 determining whether the stack 1900 has been complete with reference to a stack completion variable stored in memory 2514 of the control system 2510. In the event that the stack 1900 is complete, the method 2400 ends, otherwise the method 2400 proceeds back to step 2403 to pickup another timber piece 210 from the in-feed assembly 100.

[00100] It will be appreciated that the control system 2510 can be a single processing system or a distributed processing system.

[00101] It will be appreciated that communication between the control system and various components of the timber processing system can be performed via a wired medium, such as an electrical conductor, wirelessly, or a combination of both a wired medium and wirelessly.

[00102] Optional embodiments of the present invention may also be said to broadly consist in the parts, elements and features referred to or indicated herein, individually or collectively, in any or all combinations of two or more of the parts, elements or features, and wherein specific integers are mentioned herein which have known equivalents in the art to which the invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.

[00103] Although a preferred embodiment has been described in detail, it should be understood that many modifications, changes, substitutions or alterations will be apparent to those skilled in the art without departing from the scope of the present invention.

Claims (15)

The claims defining the invention are as follows:

1. A method performed by a control system for a robotic tool of a timber processing system, wherein the method includes: controlling a jaw engagement system of the robotic tool to: engage notches of a notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; and controlling a dislodging system to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

2. The method according to claim 1, wherein the jaw engagement system includes: a movable jaw component; a jaw actuator, controllable by the control system, for moving the movable jaw component; and a static jaw component; wherein the method includes controlling actuation of the jaw actuator to move the movable jaw component to clamp with the static jaw component against inner faces of the notches of the notched timber piece.

3. The method according to claim 2, wherein the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the method includes controlling the dislodgement system to dislodge the teeth from protruding within the notched timber piece.

4. A transporting robot for collecting and transferring timber from an in-feed assembly of a timber processing system, wherein the transporting robot includes: a conveyance arrangement, controllable by a control system, for transporting a notched timber piece from the in-feed assembly to a stacking location; a jaw engagement system, controllable by the control system, to: engage notches of the notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece for stacking at the stacking location; and a dislodging system, controllable by the control system, to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

5. The transporting robot according to claim 4, wherein the jaw engagement system includes: a movable jaw component; a jaw actuator, controllable by the control system, for moving the movable jaw component; and a static jaw component; wherein the actuation of the jaw actuator enables the movable jaw component and the static jaw component to clamp against inner faces of the notches of the notched timber piece.

6. The transporting robot according to claim 5, wherein the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the dislodgement system dislodges the teeth from protruding within the notched timber piece.

7. A method performed by a control system for a transporting robot of a timber processing system, wherein the method includes: controlling a conveyance arrangement of the transporting robot to transport a notched timber piece from an in-feed assembly to a stacking location; controlling a jaw engagement system of the transporting robot to: engage notches of the notched timber piece collected from the in-feed assembly; and disengage the notches of the notched timber piece for stacking at the stacking location; and controlling a dislodging system to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

8. The method according to claim 7, wherein the jaw engagement system includes: a movable jaw component; a jaw actuator, controllable by the control system, for moving the movable jaw component; and a static jaw component; wherein the method includes controlling actuation of the jaw actuator to move the movable jaw component to clamp with the static jaw component against inner faces of the notches of the notched timber piece.

9. The method according to claim 8, wherein the at least one of the movable jaw component and the static jaw component include teeth to protrude into the inner faces of the notches of the notched timber piece, wherein the method includes controlling the dislodgement system to dislodge the teeth from protruding within the notched timber piece.

10. A control system for controlling a transporting robot of a timber processing system, wherein the control system is configured to: control a conveyance arrangement of the transporting robot to transport a notched timber piece from an in-feed assembly to a stacking location; control a jaw engagement system of the transporting robot to: engage notches of a notched timber piece collected from an in-feed assembly; and disengage the notches of the notched timber piece after transporting for stacking; and control a dislodging system to dislodge the notched timber piece from the jaw engagement system during or after disengagement.

11. A timber processing system, including the transporting robot according to any one of claims 4 to 6, and an in-feed assembly that includes: a conveyor system for receiving and transferring notched timber pieces; a marshalling system, controllable by the control system, for enabling progression of one of the notched timber pieces along the conveyor system whilst withholding progression of the remaining notched timber pieces; a measurement system, in communication with the control system, for sensing one or more spatial dimensions of the progressed notched timber piece; and an alignment system, controllable by the control system, for engaging notches of the progressed notched timber piece and positioning, based on the one or more sensed spatial dimensions, the progressed notched timber piece for collection by a robotic stacking tool; wherein the marshalling system is actuated by the control system to enable progression of another piece of notched timber in response to the engaged piece of notched timber being collected.

12. The timber processing system according to claim 11, wherein the marshalling system includes: one or more stopper members; and one or more stopper actuators, controllable by the control system, for extending or retracting the stopper members, wherein the one or more stopper members in an extended state restrict progression of the remaining notched timber pieces on the conveyor system.

13. The timber processing system according to any one of claims 11 or 12, wherein the in-feed assembly includes an end-of-conveyor sensor system which generates and transfers an end signal to the control system when the progressed notched timber piece has travelled to the end of the conveyor, wherein the control system actuates the alignment system in response to receiving the end signal.

14. The timber processing system according to any one of claims 11 to 13, wherein the alignment system includes: a movable finger component; a movable finger actuator controllable by the control system; and a static finger component; wherein the movable finger actuator is actuated by the control system such that faces of the notches of the progressed notched timber piece are engaged between the movable and static finger components.

15. Computer readable medium including executable instructions which configure a control system to perform the method of any one of claims Ito 3 or 7 to 9.

180 120 100

122 101

160c 160d 160b 130 160a

180

161 170 - 1 / 22 -

150 160e 102

170

2538 2540 159 2542 2532 155 170

FIGURE 1

211 211 100 210 211 100 210 211 210 211 200 200 211 210 200 211 210

200 211

210 - 2 / 22 -

160c 2542 160b 160a 160e

130 155 2540 150

FIGURE 2 FIGURE 3

- 3 / 22 -

100 2021204196

210

160a 2542 210

210 2534 160e

FIGURE 4

100

160a

150 160e 210 210 - 4 / 22 -

2538 210 155 210

160a 160e

150 155

FIGURE 5 FIGURE 6

160a

130 160b 160c 160d

2542 160e

150 - 5 / 22 -

2538

155

FIGURE 7

160e

2534 - 6 / 22 -

FIGURE 8

2542 - 7 / 22 -

FIGURE 9

2540 - 8 / 22 -

FIGURE 10

160e 100 160b 160c 160a 160d

155 2542 2534 130 - 9 / 22 -

150 2538 158

FIGURE 11

100 - 10 / 22 -

155

FIGURE 12

1300

1320 1322

1360

2552 - 11 / 22 -

1390

1330

1350

FIGURE 13

211

211

210 - 12 / 22 -

211

211

FIGURE 14

1300

1360 2552

1350 1322 1332 1320 1330 210 211a 211a 211 211 - 13 / 22 -

211 211 211a 211a

FIGURE 15

1300 2552 1360 1320

213 211

1350

213a 1332 1330 - 14 / 22 -

214

210 212

FIGURE 16

1700 1702 1704 1740 1720 1720 1720

1740 - 15 / 22 -

1710 1730 1710 1710 FIGURE 18

FIGURE 17

1950

1950

1940 1940

1930

1930 1920 - 16 / 22 -

1910

1910 1920

FIGURE 19 FIGURE 20

- 17 / 22 -

2105 OPERATOR MARSHALLING INITIALISES SYSTEM ACTUATORS PARAMETERS EXTEND 2145 2021204196

SYSTEM INITIALISES 2110 MARSHALING AND SYSTEM DETECTS ALIGNMENT TIMBER AT END OF ACTUATORS TABLE VIA SENSOR 2150

2115 OPERATOR ADDS ALIGNMENT PROCESSED TIMBER ACTUATOR ALIGNS TO INFEED TABLE TIMBERVIA 2155 NOTCHES

SYSTEM DRIVES 2120 TIMBER DOWN INFEED SYSTEM FLAGS TABLE TO TIMBER IS READY FOR PICKUP 2160 MARSHALLING SYSTEM

SYSTEM DETECTS 2125 TIMBER AT MARSHALLING SYSTEM VIA SENSOR 2100

2130 MARSHALLING ACTUATORS RETRACT AND SYSTEM INDEXES TIMBER

2135 SYSTEM LOGS HEIGHT OF TIMBER BASED ON TIMBER READINGS

2140 SYSTEM DETECTS TIMBER PAST MARSHALLING SYSTEM VIA SENSOR

FIGURE 21

- 18 / 22 -

START 2200 2021204196

CONFIGURE 2210 VARIABLES

PICK TIMBER 2220

2230

STACK B N PACK 2240 FLAG SET? STACK A

Y

PACK 2260 SET STACK B 2250 STACK B FLAG

CLEAR STACK B 2270 FLAG

2280 N STACK FINISHED?

Y

END

FIGURE 22

- 19 / 22 -

START 2300

CONFIGURE 2305 VARIABLES 2021204196

PICK TIMBER 2307

2315 2310

STRIPPER N PACK TIMBER PIECE?

Y 2325 2320

STACK N REJECT N HEIGHT WITHIN FINISHED? TIMBER THRESHOLD? Y Y 2330

PACK 2335 END STRIPPER

2340 N STRIPPERS COMP?

Y

2345

N STRIPPERS PLANK REQ?

Y

PACK STRIPPER 2350 PLANK

FIGURE 23

- 20 / 22 -

START 2400

CONFIGURE 2402 VARIABLES 2021204196

PICK TIMBER 2403

2404 2406

STACK A N PACK STACK BASE A COMP? BASE ROW Y 2410 2412 2414 2408 STACK B N STACK A TIMBER PACK STACK N N BASE STRIPPERS OUTSIDE A COMP? COMP? TOLERANCE? STRIPPERS

Y Y Y 2416 PACK STACK 2420 B 2418 BASE ROW 2422 STACK A N TIMBER PACK STACK N STRIPPERS OUTSIDE A COMP? TOLERANCE? STRIPPERS Y Y 2424 REJECT 2426 TIMBER N STRIPPER PLANK REQ? Y 2430 2432 2428 STACK B TIMBER PACK STACK N N STRIPPERS OUTSIDE B COMP? TOLERANCE? STRIPPERS

Y Y 2434 PACK STRIPPER REJECT PLANKS TIMBER

2438 2436

FIGURE 24A

- 21 / 22 -

2434 2444 2440 2442 2438 2444

STACK A STACK B N TIMBER PACK STACK N N BASE 2 STRIPPERS OUTSIDE B 2021204196

COMP? COMP? TOLERANCE? STRIPPERS 2446 Y Y Y PACK STACK 2448 A BASE 2 2450 2452 STACK B N TIMBER N PACK STACK STRIPPERS OUTSIDE B COMP? TOLERANCE? STRIPPERS Y Y 2456 REJECT 2454 TIMBER

STACK B N PACK STACK BASE 2 B COMP? BASE 2 2458

Y 2460 STACK B N 2462 PACK FLAG STACK A SET? Y 2464 PACK SET STACK B 2466 STACK B FLAG

2468 CLEAR STACK B FLAG

STACK N FINISHED?

2470 Y 2403 END

FIGURE 24B

Processor 2512 Memory 2514 2510 2522 Jaw actuator 2552 1300

Input device Output device Robot Interface 2520 2516 2518 controller 2560 Disengagement actuator 2554 2530 - 22 / 22 -

Marshalling Alignment End of Timber Conveyor Measuring stopper actuator conveyor detection drive 2532 sensor 2534 actuator 2538 sensor 2540 sensor 2542 2536

FIGURE 25