Method and a system for automatic measurement and tracking of logs, industrial wood and boards

• US 7,660,433 B2
• Filed: 08/27/2003
• Issued: 02/09/2010
• Est. Priority Date: 08/27/2002
• Status: Expired due to Fees

• Current Assignee: Dralle A/S
• Original Assignee: Dralle A/S
• Inventors: Tard-Johansen, Mads Jeppe, Dralle, Kim
• Primary Examiner(s): Strege; John B
• Application Number:
  US10/525,377
• Publication Number:
  US 20060092403A1
• Time in Patent Office: 2,358 Days
• Field of Search: 382/103, 356/625
• US Class Current: 382/103
• CPC Class Codes: A01G 23/00 Forestry
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• CPC Class Codes: G01B 11/28 for measuring areas
• CPC Class Codes: G01B 11/30 for measuring roughness or irregularity of surfaces
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

A method for tracking and measuring volume, shape and surfaces of objects, such as logs, simultaneously. In series of load and unload operations along a procurement line, series of images are captured by e.g., CCD stereo cameras with sufficient spatial resolution capabilities. Simultaneously, the location of objects (logs) are registered by a GPS system aiding the tracking of the objects. The load and unload operations are typically performed by machineries such as harvesters, forwarders or trucks all equipped with a crane. On such machines digital cameras are mounted on jib arms and a computer system is attached. A GPS system is mounted on the machines too and the computer system is attached here as well. Thus the real time processing of stereo images can be accomplished and the volume, shape and surface of the 3D objects are computed simultaneously with their location in space. The resulting data are sent to a central database that keeps track of objects and their locations. These data are then again available for the following step in the procurement line as “a priory” information, facilitating the computation of the size, shape, surface and location of logs (objects) at the current load/unload operation. A chain of information provided by this invention will profoundly increase efficiency of any production chain subjectable to the presented method.

Claims

1. A method comprising the steps of

taking, at a first location, at least one image of an object enabling identifying the object and recording the at least one image taken of the object and the first location of the object on a storage medium,

transporting the object from the first location to a second location,

taking, at the second location, at least one image of the object enabling identifying the object,

using a computer for determining, at the second location, using the at least one image taken at the first location and the at least one image taken at the second location, the first location of the object,

and outputting information on the determined first location of the object, wherein the object is a log.

2. A method according to claim 1, wherein the first location is a location of harvesting the log.

3. A method according to claim 1, wherein at least one of the at least one image taken at the first location and the at least one image taken at the second location allows determining characteristic data about the log.

4. A method according to claim 3, wherein the characteristic data include a volume of the log.

5. A method according to claim 3, wherein the characteristic data include a size of the log.

6. A method according to claim 3, wherein the characteristic data include a quality of the log.

7. A method according to claim 3, wherein the characteristic data include a species of the log.

8. A method according to claim 3, wherein the characteristic data include curvature of the log.

9. A method according to claim 3, wherein the characteristic data includes taper of the log.

10. A method according to claim 3 including, at the second location, unloading a plurality of logs from a forwarder.

11. A method according to claim 3 including, at the second location, reloading a plurality of logs onto a forwarder.

12. A method according to claim 3 including, at the second location, processing the log in a sawmill.

13. A method according to claim 3, wherein the first location of each individual object is determined using a satellite based global positioning system.

14. A method according to claim 1, wherein the at least one first and second images each include a pair of stereo images taken by a pair of cameras.

15. A method according to claim 14, wherein the pair of cameras is mounted on an equipment handling a log.

16. A system for tracking an object being transported from a first location to a second location, the system comprising:

a means for taking, at a first location, at least one image of a object enabling identifying the object and recording the at least one image taken of the object and the first location of the object on a storage medium,

a means for transporting the object from the first location to a second location,

a means for taking, at the second location, at least one image of the object enabling identifying the object, and

a computer for determining, at the second location, using the at least one image taken at the first location and the at least one image taken at the second location, the first location of the object, and

a means for outputting information on the determined first location of the object, wherein the object is a log.