Automatic wood sorting facility

An automatic wood sorting facility comprising,

• a cross conveyor comprising multiple parallel conveyor chains and provided with drivers defining a conveying plane on which elongated sawn pieces of wood are advanced perpendicular to their longitudinal axis along the length of the conveying plane,
• an inspection zone comprising at least one camera,
• a camera-carrying arrangement by which the camera is borne and arranged in such a manner that each piece of wood, which is advanced on the cross conveyor can be inspected by means of the camera,
• a robot gripper zone comprising a robot equipped with a robot gripper tool by which a piece of wood can be gripped and handled within a working area for the robot,
• a robot-carrying arrangement by which the robot is borne and arranged in such a manner that said conveying plane extends under the working area of the robot with the robot gripper tool,
• a robot control unit to which the camera is connected, and which robot control unit further comprises a vision system by which an inspected piece of wood can be identified as a target object, an image processing unit and a robot control configured to form a tracking system with a defined tracking area of the length of the conveying plane,
• wherein the robot is configured, with instruction from the vision system, to grip and handle an identified piece of wood within the tracking area,
• wherein the robot is configured to lift the elongated pieces of wood from a non-continuous surface of the conveyor chains to a height that clears the drivers provided on the cross conveyor during the gripping and handling operation.