Note: Descriptions are shown in the official language in which they were submitted.
TITLE: COMPUTER-ASSISTED SHINGLE SAWING METHOD
AND INSTALLATION
FIELD OF THE PRESENT INVENTION
[ 0001] The present invention pertains to the field of shingle sawing, and
more particularly, it pertains to a shingle sawing method and installation
using a computer-assisted machine including machine vision and a grade
selection algorithm.
BACKGROUND OF THE PRESENT INVENTION
[ 0002] The shingle sawing profession is perhaps the most demanding
one in the field of forest industries. A shingle sawyer must be capable of
picking up a cedar slab laid against a large vertical rotating saw without
looking, and trim both sides of this slab on a nearby table saw. The
trimming is done by trimming a first edge, flipping the slab over and
trimming the other edge. The trimming is done while watching the main
saw; periodically readjusting the cedar block on the main saw's carriage,
and releasing the carriage's back and forth motion for sawing another slab,
and repeating the motion.
[ 0003] The trimming on the table saw is done to produce the best
available width for a top quality grade of shingles, or a best available width
for a second or third grade of shingles depending on the market demand at
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that time. A shingle sawyer must pay attention to his work at all times. A
shingle sawyer cannot let his mind wander away for a second as most
people do when doing monotonous job. Therefore, the rumour is true; you
can recognized a long-time shingle sawyer by counting his/her remaining
fingers.
[ 00041 It becomes more and more difficult to find workers who want to
enter the profession. New generation sawyers are not as productive as
their elders. Five years ago, a good shingle sawyer was producing on
average 22-23 squares of shingles per eight hour shift. A square of
shingles is 100 square feet. Today, a good shingle sawyer produces on
average 15-16 squares per eight hour shift. Therefore, there is a need in the
industry for robotic or computer-assisted machinery to fulfill the void left
by the unavailability of workers in this field.
[ 00051 There are, however, major difficulties to overcome in the sawing
of shingles by computer-assisted machines. The grade selection standard
for wood shingle requires visual acuity, a subjective interpretation of
dozens of quality criteria, and a keen decision-making ability that is
difficult to match by a computer. It will be appreciated that the grade-
selection standards for wood shingles has not been written for
interpretation by a computer. For example, some of a grade selection
criteria for one grade of wood shingle are listed below.
[ 0006] CAN/CSA 0118.2-94 (0118.2M-94) Eastern White Cedar
Shingles.
EXTRA-Grade A:
Grading: This grade has a clear face which allows the following
characteristics:
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Grain: Diagonal grain is accepted when the grain diverges or slants 1 inch
or less in 4 inches of length measured from the butt.
Sapwood: Accepted above the clear line, 8" (203 mm) from the butt.
Decay: Not accepted, including the butt and the exposed edges.
Pin Knots: They refer to ingrown knots of 1/16" (1.5 mm); are accepted
above the clear line, 8" (203 mm) from the butt.
Edges: Shingles widening at the tip are not accepted. They must possess
parallel sides, within 1/4" (6 mm).
Length: Length shall not exceed 1/4" (6 mm) less than nominal length,
except a minus tolerance of 1 inch below nominal length is permitted in
fifteen (15%) of the running inches in the bundle, from 15" to 15-3/4" (380
to 400 mm). Feather tips shall be permitted.
Shingle thickness: At time of manufacturing, shingles should be reasonably
uniform in thickness. The approximative thickness of a 16" (406 mm)
shingle must follow the 5/2 rule, i.e. the thickness of the butts of 5
shingles
must measure about 2" (50 mm) plus or minus 5%.
Width: The minimum width is 3" (76 mm), with not more than 20% of the
running inches (running millimetres) of the bundle consisting of shingles
of 3-1/2 in (89 mm) and less.
Torn grain: Accepted on 10% of the running inches (max. 1/16" / 1.5 mm
long).
Waves: Accepted on 10% of the running inches, when judged "abnormally
visible".
Shingles that have any slight deviation from the Grade A criteria are
classified in other classifications:
CLEAR - Grade B:
SECOND CLEAR - Grade C;
CLEAR WHITE- Brown Label, or
UTILITY (cull) - Grade D.
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[ 0007] These secondary grades accept some relaxations to the Grade A
criteria, with added tolerable defects related to check and ring shake; wane;
inclination of grain; soundness of knots; inter-grown knots; black knots;
encased knots; loose knots; unsound knots; holes; bark; streaks of resin;
decay; and in the relative location of knots, holes, resin, bark or decay to
the clear line of the shingle.
1 0008] It will be appreciated that a major portion of these criteria are
determined subjectively. These criteria are not related to 1 and 0 defect
determinations, as it is done by a computer. A good shingle sawyer
normally does an apprenticeship as a bundle maker for a thousand hours or
more to develop skills in learning shingle quality criteria. After this first
apprenticeship, the sawyer works under a close supervision of a senior
sawyer for another thousand hours or more. Only then, an apprentice can
become an accomplished shingle sawyer.
[ 0009] For all these reasons, basically, past attempts to manufacture
wood shingle using robotic machinery and machine vision have enjoyed a
limited success. There remains, more than ever, a need in the industry to
address computer-assisted shingle sawing.
[ 0010] For reference purposes, conventional shingle sawing is done on
machines that are substantially similar to the one illustrated in:
US Patent 2,136,622 issued to M.W. Koski on November 15, 1938.
A block of wood is placed by hand between a pair of spur rolls. The spur
rolls are mounted on a carriage that carries the wood block against a main
saw, to cut one shingle at every pass. The spur rolls index the block so that
a thick end of the shingle is taken sequentially from the top of the block,
and then from the bottom on the block. The machine illustrated in this
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document is special in that a pair of trimming saws are provided to cut the
shingle at an exact length and to cut the top and bottom ends of the shingle
parallel with each other. This trimming is done as the block moves into the
main saw.
[ 00111 US Patent 8,113,098 issued to J.L. Longfellow on February 14,
098. This document describes a machine vision system to determine
optimal saw cut to maximize the value of shingles. Wood slabs are
exposed to a camera, and a computer determines where the defects are.
The shingle is then processed through an edger to trim it to remove any
undesired defect.
[ 0012] It will be appreciated that a defect in a shingle does not necessary
means that the shingle should be classified as cull. It does not always
means that the defect should be removed. Experience sawyers consider all
defect criteria at a glance such as defect soundness, dimensions, relative
location, and decide where to trim a slab to recover the best shingle value
from it.
[ 0013] Therefore, it is believed that there is a need in the shingle
industry for a computerize system and a machine that can match the skills
of, or at least obtain a same recovery as, an experienced sawyer.
SUMMARY OF THE PRESENT INVENTION
[ 00141 In the present invention, there is provided a computer-assisted
shingle sawing method and installation where shingle grading is effected
using 0 and 1 defect determinations, relative to a one-line-one-window
algorithm.
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[ 0015] Broadly speaking, in a first aspect of the present invention, there
is provided a computer-assisted shingle sawing method comprising the
steps of taking an image of a next slab to be cut from a wood block;
defining from that image, visible and covered portions of shingles
recoverable from the next slab; determining from the visible and covered
portions, edge lines of shingles recoverable from the next slab, according
to optimal shingle grade recovery; sawing the next slab along these edge
lines, and sawing the next slab from the wood block, thereby releasing an
optimum recovery of shingles from the slab.
[ 0016] Testing of this method using 0 and 1 defect determinations,
relative to a one-line-one-window algorithm, has demonstrated that it is
possible to replace the subjectivity of a human sawyer, using this method,
to manufacture high quality wood shingles.
[ 0017] In another aspect of the present invention, there is provided a
computer-assisted shingle sawing method comprising the steps of: taking
an image of a next slab to be cut from a wood block; determining from that
image, an inclination of the next parting line of that next slab from the
wood block according to optimal shingle grade recovery, and parting the
next slab from the wood block along that inclination.
[ 0018] This method is referred to as optimization by inversion. This
method has shown increased product recovery over 100%, in reference with
what was thought possible using conventional shingle sawing.
[ 0019] In yet another aspect of the present invention, there is provided
a computer-assisted shingle sawing installation, comprising: a wood block
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indexing carriage, configured for holding and indexing a wood block
mounted thereon; a camera mounted adjacent to the carriage; the carriage
being also configured for presenting an image of a slab to be taken from the
wood block to the camera; a trimming saw mounted adjacent to said
carriage and being configured, in cooperation with a movement of said
carriage, for cutting edge lines of shingles to be recovered from said slab;
a computer for analysing the image and for guiding the trimming saw
according to an analysis of said image; a chipping head mounted to and
movable along a two-axis structure mounted adjacent the carriage; a main
saw for cutting the slab from the wood block; this chipping head and the
two-axis structure being configured for squaring off all four edges of the
slab prior to moving the slab into the main saw.
[ 0020] In a further aspect of the present invention, there is provided a
computer-assisted shingle sawing method comprising the steps of: taking
an image of a next slab to be cut from a wood block; determining from that
image and from optimal wood product recovery values, a thickness of the
next slab to be cut from the wood block, and an inclination of the parting
line of the next slab, and parting the next slab from the wood block to that
thickness and along that inclination.
[ 0021] This brief summary has been provided so that the nature of the
invention may be understood quickly. A more complete understanding of
the invention can be obtained by reference to the following detailed
description of the preferred embodiment thereof in connection with the
attached drawings.
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BRIEF DESCRIPTION OF THE DRAWINGS
1 00221 A preferred embodiment of the computer-assisted shingle
sawing method according to the present invention is described with the aid
of the accompanying drawings, in which like numerals denote like parts
throughout the several views:
[ 0023] FIG. 1 is a partial plan view of a computer assisted shingle
sawing installation that will be used to explain the method according to the
present invention;
[ 0024] FIG. 2 is a partial cross-section view of the cedar block loading
mast as seen along line 2-2 in FIG. 1, in a block-picking position;
[ 00251 FIG. 3 is another partial cross-section view of the cedar block
loading mast as seen along line 2-2 in FIG. 1, in a block-releasing position;
1 00261 FIG. 4 is a partial side view of one of the cedar block carrying
saddles on the inflow carrousel;
[ 0027] FIG. 5 is a partial view of the main saw and a partial plan view
of the outflow conveyor;
[ 0028] FIG. 6 is a representation of a Grade A shingle;
[ 0029] FIG. 7 is a representation of a Grade B shingle;
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[ 0030] FIGS. 8
and 8A are representations of a same shingle being
classified as Grade C in FIG. 8 and Grade B in its rotated image of FIG.
8A;
[ 0031] FIG. 9 is a representation of a Grade D shingle;
[ 00321 FIG. 10 is an elevation view of a cedar block as seen by the
camera of the computer-assisted installation;
[ 0033] FIG. 11 is a side view of the wood block shown in FIG. 10;
[ 0034] FIG. 12 is a same image as in FIG. 10, after the trimming head
has gone around and squared the slab to be cut.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[ 0035] The preferred embodiment of the computer-assisted shingle
sawing method and installation according to the present invention is
described herein below with reference to the attached drawings. The
drawings presented herein schematic in nature, and should not be scaled.
[ 00361 Many
components of the preferred installation were not
illustrated to facilitate the understanding of the basic concept of the design
and method. The components that were not illustrated are those for which
the nature, mountings and functions would be obvious to the person skilled
in the art of forestry equipment and machines.
[ 0037] The
installation according to the preferred embodiment for
carrying the method of the present invention is also described in term of its
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operation and the function of its components. The physical dimensions,
material types, and manufacturing tolerances are not provided because
these details also do not constitute the essence of the present invention and
would be considered obvious to the skilled artisan having acquired the
knowledge that is actually provided herein. The preferred embodiment of
the method of computer-assisted sawing will be explained herein below, in
terms of steps using the preferred shingle sawing installation 20.
[ 0038] Referring to FIG. 1, the preferred shingle sawing installation 20,
comprises a cedar block inflow carrousel 22, a cedar block loading mast 24,
a cedar block indexing carriage 26, a trimming saw 28, a camera, 30, a
scanner 32, a computer 34, a main saw 36, a shingle separator 38, an
outflow conveyor 40 and two grade-packaging conveyors 42, 44.
[ 00391 The inflow carrousel 22 has a series of saddles 50 and buggies
mounted thereon, on a circular chain. An operator 52 loads the saddles 50
with cedar block 54. Each saddle 50 preferably has U-shape sides as can
be seen in FIG. 4, with a gauge 56 in the central portion thereof. The
gauge 56 shows a distinct spacing "A" of 3 inch for example, that is
indicative of a first cut to be taken by the main saw 36 when the block
sitting on this saddle 50 is transferred to the indexing carriage 26 and
passed through the main saw 36 for a first time. The spacing "A" in this
case represent a minimum width of a shingle. Therefore, this gauge 56 is
useful to the operator 52, for positioning a cedar block 54 in a best angular
placement on the saddle 50 in order to obtain a best first cut and best
subsequent cuts from the block.
[ 0040] Referring now to FIGS. 2 and 3, the cedar block loading mast
24 will be described. The loading mast 24 has a pair of grippers 60
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mounted on arms 62, for gripping the ends of a cedar block 54 sitting on
the carrousel 22. The arms 62 are movable away and toward each other,
upward and then tilted in a counterclockwise direction about pivot 64 to
introduce the block between a pair of indexing spur rollers 70, as illustrated
in FIG. 3. These indexing spur rollers 70 are mounted on a carriage 26,
represented by bearing blocks 72 and rails 74.
[ 0041] Referring again to FIG. 3. The cedar block 54 as firstly held in
the indexing rollers 70, is seen by the camera 30 and the scanner 32. The
images obtained by theses instruments are sent to the computer 34 for
analysis. This analysis includes the location of the edges (landings) of the
slab to be cut in the next pass through the main saw 36. This analysis
includes instructions to move the trimming saw 28 up and down two or
more times to cut the cedar block 54 to a depth equivalent to the kerf 76 of
the main saw 36 as is indicated by dashed line 76 in FIG. 1.
[ 0042] The trimming saw 28 is mounted on a vertical slide which is
represented by bearing block 80 and rail 82. It will be appreciated that the
positioning of the cedar block 54 to align the landings and edge lines with
the trimming saw 28 is effected by the carriage 26.
[ 0043] Referring now to FIGS. 1 and 5, the separation of shingles will
be explained. In the preferred embodiment of the computer-assisted
shingle sawing method, every cut by the main saw 36 can release up to 4
shingles from the cedar block 54 and the minimum width of each shingle
is 3 inch. As the cedar block 54 moved into the main saw 36, the shingles
88 are released from the block 54 in sequence. This sequence is known by
the main computer 34. As each shingle 88 is cut and released, it falls down
on a belt conveyor 40. A separator chute, or deflector 38, articulated or
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not, facilitates the separation of shingles 88 as distinct elements on the
conveyor 40. The outflow conveyor 40 may also be indexed to facilitate
this separation. The carriage 26 may also slow down or hold back at each
edge line to help the separation of shingle falling from the main saw 36.
Also, the outflow conveyor 40 may operate on a slow-and-go mode during
each cut to facilitate the release of each shingle 88 as single element on the
belt.
[ 0044] Also in reference with FIG. 5, the deflector 38 is preferably set
as a distance "B" from the main saw to allow splinters and edging to fall
down under the conveyor 40, for separating these shingle by-products from
shingles 88. An actuator 90 is preferable provided to adjust this gap "B"
when the thin end of the shingle 88 is pointing downward.
[ 0045] The outflow conveyor 40 comprises at least two deflectors 92,
94 moving the shingles 88 toward one of the chutes 96. Each chute 96
move the shingles 88 into one of the packaging conveyors 42,44 according
to their grades, as known by the main computer 34.
[ 00461 The shingles carried to the end of the outflow conveyor 40 are
considered not suitable for any of the commercial GRADE A or GRADE
B. Operators (not shown) posted at the end of the packaging conveyors
42, 44 manually package the shingles delivered thereat according to a
conventional method.
[ 0047] Having explained the operation of the preferred installation 20,
the preferred method for computer-assisted shingle sawing method and
corresponding algorithm can now be described, while referring to FIGS.
6- 12.
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[ 00481 For reference purposes, FIG. 6 is a Grade A shingle, clear of any
visual defect. Grade A shingle have the greatest market value. A minimum
width is 3 inches. The market value increases in proportion to its width.
[ 0049] A Grade B shingle, as in FIG. 7, tolerate a defect above the
exposed portion thereof. As can be noted, the defect 98 is located above
the line of exposure "L" of the shingle, usually 6 inches (15.2 mm) from
the butt.
[ 0050] A Grade C shingle as shown in FIG. 8 has one defect extending
below the line of exposure "L" .
[ 00511 One important aspect of the method according the present
invention is that before cutting the shingle shown in FIG. 8, the spur rolls
70 may adjusted the angle of the cut on the block 54 so that butt of the
shingle and the exposed portion of the shingle is on top of the slab, such as
shown in FIG. 8A. By doing so, a Grade C shingle became a Grade B
shingle, with a much greater market value.
[ 00521 A Grade D shingle, as illustrated in FIG. 9, has too many defects
therein to be used as shingle and therefore, it is usually trimmed as
window/door shim stock.
[ 0053] Referring now to FIG. 10, both outside lines 110 represent the
outside edges (landings) of the slab 112 to be cut during the next pass into
the main saw 36. In the preferred method, the main computer 34 has been
programmed to look at the image of the slab 112, and to make 0 or 1
determination of defect(s) in relation of a one-line-one window algorithm,
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while ignoring all the criteria of the quality standard referred to before in
Grade A and Grade B. The algorithm uses two variables:
1) the visible or line of exposure "L" of the shingles to be taken from the
block, and
2) a 3-inch wide-fill-length window "W" movable across the slab 112.
[ 0054] The computer analyses the images from the machine vision
system and scans the face of the slab, inside the window, for the slightest
defect. If a defect is found, irregardless of their size or gravity, they are
identified as a positive digit.
[ 0055] When the sweeping window "W" finds a 3-inch wide strip with
no defect along the full length thereof, this strip is identified as a minimum-
width Grade A shingle.
[ 00561 When the sweeping window "W" finds a 3-inch strip with one
or more defects above the clear line and no defect below the clear line "L",
that strip is identified as a minimum-width Grade B shingle.
[ 0057] When the sweeping window "W" finds a defect below the clear
line "L", a trim line is assigned to each side of the defect, and that strip
is
identified as a cull strip.
[ 0058] During the sweeping of the window "W" across the face of the
slab 112, the total available width of each of GRADE A shingle and
GRADE B shingle and the location(s) of cull strips are recorded.
[ 00591 The width of both identified shingle grades is sequentially
increased by the computer from the data obtained by the sweeping window
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"W". The width increase is done according to market value of each grade,
to obtain optimum recovery value from each slab 112.
[ 0060] The above analysis is repeated with a alternative clear line "alt-
L", and a decision is made according to a better recovery between the first
and second analysis whether the butt end of the next slab 112 is on top or
bottom of the block 54.
[ 0061] Once a determination of shingle Grade and width is done, the
cedar block 54 is presented to the trimming saw 28 and moved back and
forth along the rails 74 so that trimming can be done along the landings 110
and along the shingles' widths.
[ 0062] It will be appreciated that lines 110 may be used to guide a
second trimming device equipped with a chipping head, for alternatively
chipping away the side and top and bottom edges of the slab 112 to be cut.
Referring to FIG. 12, such chipping head 120 is illustrated. The chipping
head 120 is guided on a two-axis structure 122, as can be seen in FIGS. 1-
3. The chipping head 120 is convenient for squaring a slab 112 from a
block 54 that has no parallel ends.
[ 0063] For the purpose of loading a trapezoidal blocks 54, the grippers
60 of the loading arms 62 are equipped with movable wrists 124, as can be
seen in FIG. 2.
[ 0064] The movement of the chipping head 120 along its path 126, is
synchronized with the movement of the trimming saw 28 so as to not
interfere with each other. For example, the chipping head 120 and the two-
axis structure 122 are configured for squaring a bottom and right edge of
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a slab 112, when the trimming saw 28 is indexed near a left upper side of
the slab 112, and for squaring the top and left edges of the slab 112 when
trimming saw 28 is indexed near a right lower side of the slab 112.
[ 0065] The trimmed slab 128 is advantageous in that most or all the
splinters and edging are removed from the slab 128 before the slab 128 is
separated from the block 54, thereby limiting all these shingle by-products
from accumulating under and near the shingle-sawing installation 20.
[ 0066] Using the above analysis, the slab 112 shown in FIG. 10 was
separated as strip 130 classified as a cull strip, for containing one defect
98
in the visible portion of the shingle, and another one in the covered portion.
The remaining portion of the slab 112 was separated into a 5 inches wide
Grade A- EXTRA shingle 132 for containing 0 defect over its entire
surface; and a 3 inch wide Grade B- CLEAR shingle 134, containing one
small defect 136 above the clear line "L" of the shingle.
[ 0067] Referring back to FIG. 11, the wood block 54 is indexed on
spur rolls 70 as can be seen in FIGS. 2 and 3. In the machine illustrated
herein, the wood block 54 can be indexed up the eight consecutive times
with the butt end 140 of the shingle in a same direction relative to the block
54. The computer system 34 has the ability to recognize cases of
optimization by inversion as illustrated using FIGS. 8 and 8A, and decides
of the inclination of the parting line and the location of the butt end of the
next shingles for a best recovery.
[ 0068] The example described above was programmed with a market
bias of high value for both Grade A and Grade B. However, if the market
value for Grade A shingles is much higher than that for Grade B shingles,
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the market bias introduced in the algorithm would have given a 7 inch wide
Grade A shingle and two cull strips bordering this wider shingle, from the
slab 112 of FIG. 10.
[ 0069] This preferred 0-1 defect-one-line-one-window algorithm was
introduced to human sawyers. They were asked to test the method. Cedar
block were selected randomly, sawn and trimmed according to this
preferred simplified method. After careful tabulation of the resulting
products, it was found that the yield of Grade A and Grade B shingles from
these blocks had increased by 20 %, and the resultant quality of packaged
shingles in both grades had also increased by 20% as compared to
conventional sawing using the conventional quality criteria. The income
obtained from these test blocks also increased accordingly. These tests
indicate that it is possible to replace the subjectivity of a human sawyer, by
0-1 defect determinations of a computer to manufacture high quality wood
shingles.
[ 00701 The above algorithm was explained using Grade A and Grade B
shingles only. However, it will be appreciated that when a market demand
for Grade C, (decoration shingles) or grade D, (cull or shim stocks) justifies
it, these additional Grades can be added to the method according to the
present invention, following the same concept as described herein above
for the two top grades. More packaging conveyors and corresponding
selectors may be added to recover these additional grades. Therefore, the
method described herein is not limited to two grades of shingle only.
[ 0071] Similarly, the sweeping window "W" has been specified as being
3 inches wide. The present method should not be limited to this dimension.
The method described herein will work with windows that are wider or
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narrower than 3 inches. A single line will also work.
[ 00721 The examples that have been presented herein pertain to Eastern
White Cedar Shingles. It should be appreciated that the advantages
described herein are not limited to this popular shingle product. For
example, a manufacturer of Eastern White Cedar Shingles, may also have
a market demand for cedar shakes which are slightly thicker than cedar
shingles. The computer-assisted shingle sawing installation described
herein and its optimization by inversion feature, provide the ability to
adjust the inclination of the parting line as well as the thickness and
orientation of the butt end of a shingle or a shake to be sawn, according to
optimal wood product recovery values. Alternate product specifications for
shakes for example, can be entered in the computer system and where
optimum product recovery value dictates, a shake may be sawn whenever
possible amid a run of common white cedar shingles, or vice-versa.
[ 00731 This document has explained grade selection according to
market bias. It is believed that there are more advantages to this method
that are yet to be developed. For example, the width selection of each
shingle can be set according to a desired prescription of one or more
standard widths. The width selection can be set to facilitate the formation
of prefab shingled panels of exactly 48 inches wide for example. In
another case, the width prescription can be set to provide a unique visual
pattern on a shingled wall. The width prescription can also be set to
facilitate shingle bundling with minimum gaps.
[ 0074] Because the computer determines the grade and width of each
shingle, and has a memory and control on the location of each shingle; a
customer can be provided with a shingle selection, quality and width
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prescription that were unheard of before. The full potential of this method
is yet to be developed, and therefore, the present description should not be
limiting the scope of the present examples.
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