3D Point Cloud Enables Robots to “See” in the Carpentry Industry
Automation is also advancing in furniture production. For individual processing steps, there are various powerful CNC machining centers, for example from HOMAG Bohrsysteme GmbH. The company has now automated the entire process around a vertical CNC machining center with robotic handling for MAB Möbel AG in Switzerland. With the help of the machine vision software MVTec HALCON, a robot picks up wooden workpieces from a chaotically arranged stack, feeds them to the machining center, and removes them again after processing.
Like many other industries, the woodworking sector faces a variety of challenges. These include quality assurance, untapped efficiency potential, and a shortage of skilled workers. One possible response is further automation. Automation can reduce errors, improve quality, and increase efficiency. In addition, production can be increased and accelerated because machines can operate 24/7 and perform quality control faster and more precisely than humans. Finally, the increasingly scarce human resources can be deployed more purposefully by automating monotonous and physically demanding tasks.
HOMAG Bohrsysteme GmbH has developed an automated solution that addresses these challenges. The company is part of the HOMAG Group and provides customers in the woodworking industry with a wide range of support options through its high-tech machines and systems. Its product portfolio includes CNC machining centers, through-feed drilling machines, drilling and dowel-insertion machines, as well as machines for drilling and fitting insertion technology.
The newly developed solution focuses on fully automated loading of a vertical CNC machining center. At the literal center of the system is a robot that picks wooden workpieces from a stack, feeds them into the CNC machine, and removes and places them after processing. The key feature is that the workpieces are all individual and their shape and size are not known in advance. In addition, they are arranged chaotically on the stack. Furthermore, not only are the workpieces different from one another, but each must also be drilled individually. The relevant information is stored in a barcode on the workpiece.
Machine vision enables processing to take place completely autonomously despite these challenges. With the help of the machine vision software MVTec HALCON, the robot can recognize the different workpieces and grasp them safely. The software executes numerous algorithms and also reads the barcode information on the workpieces, forwarding it to the CNC machine. Based on this information, the required, different drilling operations are carried out.
The requirement: fully automate a labor-intensive process step
Such a fully automated cell developed by HOMAG is in operation at the carpentry workshop of MAB Möbel AG. The company from Muotathal, Switzerland, has been producing quality furniture since 1951 based on ecological and design-oriented principles. “We want to continue developing with solutions that truly make sense. The further development of the cell with laser scanning and chaotic stacking was the function we had been waiting for. This allows the cell to meet our goal of batch size 1 production – and only then does automation make sense for us,” explains Luca Zingg, member of the management board responsible for corporate development at MAB. Until now, an employee handled the loading of the CNC machining center. This involved picking up the workpieces, scanning the attached barcode, placing them into the CNC machine, and depositing them on another pallet after processing. After several hours, this monotonous task becomes physically demanding and is not particularly efficient in terms of profitability.
Tobias Schwarz, Senior Director Product Development at HOMAG Bohrsysteme GmbH, explains the goal of the automation: “MAB has set itself the objective of increasing productivity, deploying employees more effectively – and above all in less physically demanding workplaces – and thereby reducing costs. Another advantage of a fully automated production process is that the workpieces no longer need to be sorted before processing, since the application can also handle chaotically arranged stacks. This saves time in the upstream process step, which further increases productivity.”
The challenge during implementation was to develop a completely new solution, as nothing like this previously existed on the market. The task is also not easy for the machine vision system. This is due, firstly, to the enormous variety of workpieces – different surface decors must also be processed. Secondly, the image processing must function under ambient light. Because not every area is fully illuminated, less powerful vision systems may have difficulty determining the exact position of the workpieces. Finally, it is technically demanding to separate the surfaces of relatively flat boards. “Despite these challenges, it was clear that such a fully automated solution had to be based on machine vision. We had to teach the robot to see. With other technologies, such as sensors, practical implementation would be virtually impossible – particularly in terms of speed,” explains Schwarz.
A 3D point cloud enables the robot to recognize individual workpieces
The application consists of several hardware components. At its core is a six-axis robot. A vacuum surface gripper system is used as an end effector. A 3D laser scanner is also mounted on the robot’s gripper arm. The drilling operations take place in the DRILLTEQ V-310 CNC machining center from HOMAG. The machining center offers a wide range of options for precise processing of wooden workpieces.
For the machine vision software, HOMAG chose MVTec HALCON. “We have been working with MVTec’s software for some time. HALCON has a huge pool of machine vision operators that allow virtually all machine vision applications to be implemented robustly. In addition, the software is flexible when it comes to combining different hardware components. And if technical questions arise, you can simply contact MVTec’s customer service,” explains Schwarz regarding the decision.
At MAB, the production process proceeds as follows: An employee places wooden workpieces onto an unknown and chaotic stack in the work area. The robot then moves over the stack so that the 3D laser scanner can scan it from above. The laser scanner then creates a 3D point cloud – a highly precise three-dimensional representation of objects consisting of numerous individual data points. After image acquisition, the machine vision software MVTec HALCON extracts the top layer of wooden workpieces from the 3D point cloud and determines the spatial position of each individual workpiece. A stacking algorithm then calculates the optimal order in which the robot should remove the workpieces. This is an important detail because an unevenly unloaded stack could collapse. The robot then begins its work, removing the wooden workpieces according to the calculated order and transferring them to the CNC machining center. Before this, the 3D laser scanner captures a 2D image of the code. MVTec HALCON reads the code and transmits the information to the machine. The workpiece is then processed according to this information. Afterward, the robot picks up the workpiece again and places it on the target stack.
MVTec HALCON performs multiple image processing tasks
“We are seeing machine vision becoming increasingly popular in the woodworking industry and among carpentry workshops. Our software, MVTec HALCON, offers numerous methods – for example for inspection tasks or for collaboration with robots – that can sustainably support automation and digitalization in this sector,” says Jan Gärtner, Product Manager HALCON at MVTec.
For the robot in the MAB system to work autonomously and grasp the workpieces precisely, the machine vision software must perform several tasks. First, MVTec HALCON converts the 3D point cloud into information for further processing. For this purpose, HALCON uses 3D object models. This central container forms the starting point for creating a coordinate system within the machine vision software, which is then transmitted to the robot. Various HALCON operators first determine the distance from the gripper to the pallet, then calculate the top layer of workpieces, and finally determine the precise position of each individual workpiece. These positions are integrated into the coordinate system of the HALCON machine vision software and transferred to the robot.
During the 3D scanner’s capture of the top layer of the pallet, it also records 2D images. HALCON uses these images to read the information from the barcode attached to each workpiece. The challenge here is that the captured image is quite large, while the barcode region is correspondingly small. Reading such small barcodes is a major challenge for any industrial image processing software. “The image-processing part of the implementation was not entirely trivial. Because of the flat boards, we had to combine 2D and 3D methods. This was possible with HALCON and significantly simplified the implementation,” explains Schwarz.
System Completed in Summer 2025
The system went into operation at MAB Möbel AG in summer 2025. “Thanks to the close coordination with the partners involved, we were able to achieve very good results right from commissioning. The system is now operating very reliably, which makes us very satisfied and gives us confidence for the future,” explains Luca Zingg. “The increased level of automation significantly relieves MAB, as the employees who previously carried out this task can now focus on other, more important activities. At the same time, this solution represents an important development for us, because it allows us to significantly increase the automation level of our core machines and thus offer customers additional added value,” adds Tobias Schwarz, continuing: “Machine vision plays an important role here, because the technology acts as an automation enabler. In our collaboration with MVTec, we see the opportunity to offer our customers first-class and reliable solutions.”
About MVTec Software GmbH
MVTec is a leading manufacturer of standard software for machine vision. MVTec products are used in a wide range of industries, such as semiconductor and electronics manufacturing, battery production, agriculture and food, as well as logistics. They enable applications like surface inspection, optical quality control, robot guidance, identification, measurement, classification, and more. By providing modern technologies such as 3D vision, deep learning, and embedded vision, software by MVTec also enables new automation solutions for the Industrial Internet of Things aka Industry 4.0. With locations in Germany, the USA, France, Benelux, Spain, China, Taiwan and South Korea as well as an established network of international distributors, MVTec is represented in more than 35 countries worldwide. www.mvtec.com