Object height detection for stacking and destacking operations

Abstract

Various embodiments described herein relate to techniques for object height detection for stacking operations and / or de-stacking operations. In this regard, an automated industrial system includes at least a column portion, a robotic arm portion, and an end effector configured to grasp an object. An image capture device is mounted to the automated industrial system and configured to rotate based on movement of the robotic arm portion to scan the object grasped by the end effector and generate image capture data associated with the object. Further, a processing device is configured to determine height data for the object based on the image capture data. The processing device is also configured to determine position data for the object relative to a conveyor system based on the height data.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to automated industrial systems, and more particularly to robots associated with a conveyor system. BACKGROUND

[0002] In a robotic conveyor system that performs a stacking operation, a robotic arm and an end effector are typically employed to pick an object from a conveyor and place the object on a pallet. Similarly, in a robotic conveyor system that performs an unstacking operation, a robotic arm and an end effector are typically employed to pick an object from a pallet and place the object on a conveyor. It is generally desirable for the robotic conveyor system to perform the stacking operation or the unstacking operation based on an estimated dimension of the object for the stacking operation or the unstacking operation. However, it is typically difficult for the robotic conveyor system to estimate the object dimension for the stacking operation or the unstacking operation. Moreover, the object dimension typically varies during the stacking operation or the unstacking operation. As a result, the robotic conveyor system that performs the stacking operation or the unstacking operation is typically susceptible to inefficiency and / or performance degradation. SUMMARY

[0003] According to one embodiment of the present disclosure, a system includes an automated industrial system, an image acquisition device, and a processing device. The automated industrial system includes at least a column portion, a robotic arm portion, and an end effector configured to grasp an object. The image capture device is mounted to the automated industrial system. Moreover, the image capture device is configured to rotate based on movement of the robotic arm portion to scan the object grasped by the end effector and generate image capture data associated with the object. The processing device is configured to determine height data for the object based on the image capture data. The processing device is further configured to determine position data for the object relative to a conveyor system based on the height data.

[0004] According to another embodiment of the present disclosure, a system includes an automated industrial system, a first image capture device, a second image capture device, and a processing device. The automated industrial system includes at least a column portion, a robotic arm portion, and an end effector configured to grasp an object. The first image capture device is mounted to the automated industrial system. The first image capture device is further configured to rotate based on movement of the robotic arm portion to scan the object grasped by the end effector and generate first image capture data associated with the object. The second image capture device is mounted to the automated industrial system. The second image capture device is further configured to rotate based on movement of the robotic arm portion to scan the object grasped by the end effector and generate second image capture data associated with the object. The processing device is configured to determine height data for the object based on the first image capture data and the second image capture data. The processing device is further configured to determine position data for the object relative to a conveyor system based on the height data.

[0005] According to another embodiment of the present disclosure, a computer- implemented method is provided. The computer-implemented method provides receiving, by a device comprising a processor, image capture data from a rotatable image capture device associated with an automated industrial system, the image capture data associated with an image capture process for an object grasped by an end effector associated with the automated industrial system. The computer-implemented method also provides determining, by the device, height data for the object based on the image capture data. Further, the computer-implemented method provides determining, by the device, position data for the object relative to a conveyor system based on the height data.

[0006] According to yet another embodiment of the present disclosure, a computer program product is provided. The computer program product includes at least one computer readable storage medium having program instructions embodied therewith, the program instructions executable by a processor to cause the processor to receive image capture data from a rotatable image capture device associated with an automated industrial system, the image capture data associated with an image capture process for an object grasped by an end effector associated with the automated industrial system. The program instructions are also executable by the processor to cause the processor to determine height data for the object based on the image capture data. Further, the program instructions are executable by the processor to cause the processor to determine position data for the object relative to a conveyor system based on the height data. BRIEF DESCRIPTION OF DRAWINGS

[0007] The description of illustrative embodiments can be read in conjunction with the accompanying drawings. It will be appreciated that the elements shown in the figures are not necessarily to scale. For example, some of the elements are exaggerated in relation to others. Embodiments consistent with the teachings of the present disclosure are illustrated and described in relation to the drawings, in which:

[0008] Figure 1 A robotic conveyor system providing object height detection for stacking and / or destacking operations is shown in accordance with one or more embodiments described herein;

[0009] Figure 2 Another robotic conveyor system providing object height detection for stacking and / or destacking operations is shown in accordance with one or more embodiments described herein;

[0010] Figure 3 Another robotic conveyor system providing object height detection for stacking and / or destacking operations is shown in accordance with one or more embodiments described herein;

[0011] Figure 4Another robotic conveying system providing object height detection for stacking and / or de-stacking operations is shown in accordance with one or more embodiments described herein;

[0012] Figure 5 An exemplary processing device to facilitate object height detection for stacking and / or de-stacking operations is shown in accordance with one or more embodiments described herein;

[0013] Figure 6 Another exemplary processing device to facilitate object height detection for stacking and / or de-stacking operations is shown in accordance with one or more embodiments described herein;

[0014] Figure 7 An exemplary automated industrial system associated with object height detection for stacking and / or de-stacking operations is shown in accordance with one or more embodiments described herein;

[0015] Figure 8 An exemplary system to facilitate object height detection for stacking and / or de-stacking operations is shown in accordance with one or more embodiments described herein; and

[0016] Figure 9 A flowchart for facilitating object height detection for stacking and / or de-stacking operations is shown in accordance with one or more embodiments described herein. DETAILED DESCRIPTION

[0017] Various embodiments of the application will now be described in greater detail below with reference to the figures. It should be noted that the figures are not drawn to scale and are merely intended to conceptually illustrate some, but not all, embodiments of the application. In particular, the application can be embodied in a multitude of different forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. The term "or" is used in its alternative sense (and not in its disjunctive sense) unless otherwise indicated (e.g., in the phrase "at least one of A or B" or "at least one of A and B," the phrase is used in a disjunctive sense). The terms "exemplary," "example," and "exemplary" are used herein to merely mean an example or instance. Throughout the document, similar reference numerals can refer to similar elements throughout.

[0018] The phrases "in one embodiment," "according to one embodiment," etc., generally mean that a particular feature, structure, or characteristic described in connection with these phrases can be included in at least one embodiment of the present disclosure, and can be included in more than one embodiment of the present disclosure (importantly, such phrases are not necessarily referring to the same embodiment).

[0019] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0020] If the specification states a component or feature "may," "could," "would," "should," "can," "will," "preferably," "possibly," "typically," "options," "for example," "often," or "might" (or other such term) be included or have a particular property, that particular component or feature is not necessarily included or has the particular property. Such components or features can be optionally included in some embodiments or can be excluded.

[0021] In a material handling environment (e.g., a distribution center, a shipping center, a warehouse, a factory, etc.), it is often desirable to transport objects (e.g., packages, parcels, boxes, totes, cartons, pallets, etc.) along a conveyor. To assist in transporting objects in a material handling environment, a robotic conveying system that performs a pick and place operation can be employed. In a robotic conveying system that performs a pick operation, a robotic arm and an end effector are typically employed to pick an object from a conveyor and place the object on a pallet. Similarly, in a robotic conveying system that performs a place operation, a robotic arm and an end effector are typically employed to pick an object from a pallet and place the object on a conveyor. It is often desirable for a robotic conveying system to perform a pick or place operation based on an estimated dimension of an object for the pick or place operation.

[0022] To estimate a dimension of an object for a pick or place operation, a vision system can be employed to estimate a position and / or orientation of an end effector of a robotic conveying system to pick a respective object. For example, a camera for a robotic conveying system can be positioned above an object for a pick or place operation. For a pick or place operation that contains objects of the same size (e.g., contains a single type of object), a camera positioned above an object (e.g., to estimate a position and / or orientation of an end effector of a robotic conveying system) is typically sufficient to perform the pick or place operation. However, for a pick or place operation that contains objects of different sizes (e.g., contains multiple types of objects having different heights), a camera positioned above an object (e.g., to estimate a position and / or orientation of an end effector of a robotic conveying system) typically results in inefficiencies and / or performance degradation of the robotic conveying system. For example, a top-down view of an object provided by a camera positioned above an object can only provide a two-dimensional top view of the object. As a result, a robotic conveying system is typically programmed to pick all objects to a defined height (e.g., a maximum height), regardless of an actual height of an object, resulting in suboptimal motion of a robotic arm of the robotic conveying system. These inefficient operations can also result in delays in transporting objects along a conveyor in a material handling environment and / or delays in unloading objects from a conveyor in a material handling environment.

[0023] Accordingly, to address these and / or other issues, object height detection for stacking operations and / or de-stacking operations is disclosed herein. In one or more embodiments, object height detection for stacking operations and / or de-stacking operations provides an improved robotic conveying system with improved performance, improved efficiency, improved object flow, and / or improved object transport speed. In one or more embodiments, object height detection for an object can be provided in parallel with a picking operation for the object.

[0024] In one or more embodiments, for example, an image capture device such as a light detection and ranging (LiDAR) device can be mounted on a motor to allow the image capture device to rotate about a horizontal axis of the image capture device. The image capture device mounted on the motor can also be attached to a robot or another mechanical structure to focus the collection of image capture data (e.g., LiDAR data) related to an end effector of the robot. For example, in one or more embodiments, a signal can be transmitted to the image capture device to move (e.g., rotate) the image capture device to move along a negative axis while an object is being grasped by an end effector of the robot. Accordingly, the image capture device can move in a downward direction while the object is being picked up by the end effector of the robot in an upward direction. In response to image capture data (e.g., LiDAR data) passing through the object, a change in the image capture data can be obtained to indicate a start of an image capture process for the object. In one or more embodiments, the start of the image capture process for the object can indicate that a position of the robot arm and / or end effector is sufficient such that the object will not collide with other objects that are in close proximity to the object. Additionally, another change in the image capture data can be obtained to indicate an end of the image capture process for the object. In one or more embodiments, a degree of motion of the image capture device (e.g., a travel distance of the image capture device from the start of the image capture process to the end of the image capture process) can be calculated and / or utilized as an estimated height of the object. In one or more embodiments, one or more motion commands for the robot (e.g., a robot arm and / or end effector of the robot) can be determined based on the estimated height of the object. In various embodiments, a position to place the object onto a conveyor belt or a pallet can be determined based on the estimated height of the object. Additionally, in certain embodiments, one or more verification measurements and / or one or more performance measurements of the robot can be determined based on the estimated height of the object.

[0025] Figure 1A system 100 is shown that provides an example environment in which one or more described features of one or more embodiments of the present disclosure can be implemented. The system 100 can be a robotic conveying system. According to embodiments, the system 100 includes an automated industrial system 101 to facilitate the practical application of object height detection for stacking operations and / or de-stacking operations associated with the automated industrial system 101. In one or more embodiments, the automated industrial system 101 can be a robotic system associated with stacking operations and / or de-stacking operations. The automated industrial system 101 can relate to one or more technologies to facilitate object height detection for stacking operations and / or de-stacking operations. Further, the automated industrial system 101 can provide improvements to one or more technologies, such as conveying system technologies, conveyor technologies, robotic technologies, sensor systems, material handling technologies, sortation system technologies, mixed SKU de-stacker technologies, mixed SKU stacker technologies, industrial technologies, manufacturing technologies, distribution center technologies, warehouse technologies, automation technologies, imaging technologies, asset tracking and monitoring technologies, scanning technologies, digital technologies, and / or other technologies. In one implementation, the automated industrial system 101 can improve the performance of a conveying system. For example, compared to conventional conveying systems, the automated industrial system 101 can provide improved efficiency for a conveying system, improved object handling via a conveying system, improved object flow via a conveying system, and / or increased object transport speed via a conveying system. Additionally, by providing the object height detection disclosed herein, optimal motion of one or more portions of the automated industrial system 101 can be provided. For example, providing the object height detection disclosed herein, optimal motion of a robotic arm and / or an end effector of the automated industrial system 101 can be provided.

[0026] The automated industrial system 101 includes a base portion 102, a column portion 104, a robotic arm portion 106, and / or an end effector 108. In one or more embodiments, the base portion 102, the column portion 104, the robotic arm portion 106, and / or the end effector 108 can correspond to a robotic system (e.g., a robot) configured to stack and / or unstack objects relative to a conveyance system 110. The conveyance system 110 can include one or more conveyors in a material handling environment (e.g., a distribution center, a shipping center, a warehouse, a factory, a manufacturing plant, an industrial plant, etc.). Further, the conveyance system 110 can be a mechanism that transports, guides, and / or routes one or more objects. Additionally or alternatively, the conveyance system 110 can include one or more pallets to facilitate transportation and / or routing of one or more objects. In embodiments, the conveyance system 110 includes a box conveyor, a tote conveyor, a belt conveyor, a cart conveyor, a pallet conveyor, an accumulation conveyor, a vertical indexing conveyor, or another type of conveyance system. In certain embodiments, the conveyance system 110 can additionally include an actuator that converts rotational motion to linear motion for one or more conveyors of the conveyance system 110. For example, in one embodiment, the actuator of the conveyance system 110 can be an electric linear actuator that employs a motor to control the speed of one or more conveyors of the conveyance system 110.

[0027] The base portion 102 can be a mechanical structure that provides support for the column portion 104. For example, the column portion 104 can be attached to the base portion 102. The column portion 104 can be a mechanical structure that provides support for the robotic arm portion 106. For example, the robotic arm portion 106 can be attached to the column portion 104. The robotic arm portion 106 can be configured to move according to one or more axes. Further, the end effector 108 can be attached to the robotic arm portion 106. The end effector 108 can be configured to grasp an object 116. For example, the end effector 108 can be configured as a gripper (e.g., a gripper mechanism) or another tool that facilitates grasping the object 116. The object 116 can be a physical item, element, device, etc. that is to be transported via the conveyor system 110. For example, the object 116 can be a package, a parcel, a box, a bin, a carton, a pallet, and / or another object that is transported via the conveyor system 110. In certain embodiments, the object 116 can be a dynamically positioned object. For example, the object 116 can be in-transit, out-transit, or otherwise moved via the conveyor system 110. The object 116 can also include a height, a size, a shape, a color, and / or another physical characteristic. In one embodiment, the end effector 108 can obtain the object 116 from a pallet to perform one or more de-stacking operations associated with the object 116 such that the object 116 can be placed on a conveyor belt of the conveyor system 110. In another embodiment, the end effector 108 can obtain the object 116 from a conveyor belt to perform one or more stacking operations associated with the object 116 such that the object 116 can be placed on a pallet of the conveyor system 110.

[0028] In one or more embodiments, the image capture device 112 is integral with the automated industrial system 101. For example, the image capture device 112 can be mounted to the automated industrial system 101. In an embodiment, the image capture device 112 can be mounted on the column portion 104. In another embodiment, the image capture device 112 can be mounted on the robotic arm portion 106. However, it should be appreciated that in certain embodiments, the image capture device 112 can be mounted on another portion of the automated industrial system 101 (e.g., another mechanical structure, another robotic structure, etc.). Additionally, in certain embodiments, the processing device 114 is integral with the automated industrial system 101. For example, in certain embodiments, the processing device 114 can be mounted to and / or integrated into the base portion 102, the column portion 104, the robotic arm portion 106, or another portion of the automated industrial system 101. In alternative embodiments, at least a portion of the processing device 114 can be implemented on a server system. For example, in certain embodiments, the image capture device 112 can transmit image processing data to at least a portion of the processing device 114 implemented on a server system via a network. The network can be a communication network that employs wireless technology and / or wired technology to transmit data between the image capture device 112 and the processing device 114. For example, the network can be a Wi-Fi network, a near field communication (NFC) network, a worldwide interoperability for microwave access (WiMAX) network, a personal area network (PAN), a short-range wireless network (e.g., Bluetooth® network), an infrared wireless (e.g., IrDA) network, an ultra-wideband (UWB) network, an inductive wireless transmission network, and / or another type of network.

[0029] ​In one or more embodiments, the image capture device 112 can be configured to rotate. For example, in one or more embodiments, the image capture device 112 can be configured to perform a rotation operation 113 based on movement of the robotic arm portion 106. In certain embodiments, the image capture device 112 can be mounted to a motor that facilitates the rotation operation 113. Thus, the image capture device 112 can be a rotatable image capture device 112. The image capture device 112 can perform the rotation operation 113 to scan the object 116 grasped by the end effector 108. In certain embodiments, the image capture device 112 can be configured to rotate about an axis of the image capture device 112. In certain embodiments, the axis of the image capture device can be parallel to a conveyor belt (e.g., a conveyor belt surface) of the conveyor system 110. In certain embodiments, the axis of the image capture device can be parallel to a pallet (e.g., a pallet surface) of the conveyor system 110. Additionally or alternatively, the image capture device 112 can be configured to rotate relative to movement of the robotic arm portion 106. In certain embodiments, the image capture device 112 can be configured to counter-rotate relative to movement of the robotic arm portion 106. For example, in response to the robotic arm portion 106 moving in an upward direction, the image capture device 112 can be configured to rotate in a downward direction. In another example, in response to the robotic arm portion 106 moving in a downward direction, the image capture device 112 can be configured to rotate in an upward direction. Moreover, the image capture device 112 can be configured to generate image capture data associated with the object 116 based on the rotation operation 113 associated with the image capture device 112.

[0030] In embodiments, the image capture device 112 can include one or more sensors configured to scan the object 116 to generate image capture data associated with the object 116. The image capture device 112 can include one or more image capture devices. For example, in embodiments, the image capture device 112 can be one or more laser scanning devices (e.g., one or more LiDAR devices). In certain embodiments in which the image capture device 112 is a LiDAR device, the image capture data generated by the image capture device 112 can be LiDAR data associated with the object 116. In another embodiment, the image capture device 112 can be one or more cameras (e.g., one or more camera units, one or more two-dimensional (2D) cameras, one or more three-dimensional (3D) cameras, etc.). In certain embodiments in which the image capture device 112 is a camera device, the image capture data generated by the image capture device 112 can be point cloud data associated with the object 116. However, it should be appreciated that, in certain embodiments, the image capture device 112 can be a different type of image capture device and / or the image capture data can be a different type of image capture data. In certain embodiments, the image capture device 112 can include an embedded processor (e.g., a different embedded processor than the processing device 114) configured to control the image capture device 112.

[0031] In one or more embodiments, the processing device 114 can be configured to determine height data for the object 116 based on the image capture data. The height data can correspond to a length between a top surface of the object 116 and a bottom surface of the object 116. In certain embodiments, the processing device 114 can be configured to identify a beginning of an image capture process associated with the object 116 and an end of the image capture process associated with the object 116 based on the image capture data. For example, the beginning of the image capture process can correspond to a portion of the image capture data that corresponds to the top surface of the object 116 and the end of the image capture process can correspond to another portion of the image capture data that corresponds to the bottom surface of the object 116. In embodiments, the beginning of the image capture process and / or the end of the image capture process can correspond to some degree of change and / or some pattern in the image capture data. Further, the processing device 114 can be configured to determine the height data for the object 116 based on the beginning of the image capture process and the end of the image capture process. In certain embodiments, the processing device 114 can be configured to determine the height data based on distance data (e.g., degree of rotation) of the image capture device 112 during the image capture process associated with the object 116. For example, a distance traveled by the image capture device 112 during the rotation operation 113 can be determined based on a starting position of the image capture device 112 at the beginning of the image capture process and an ending position of the image capture device 112 at the end of the image capture process. In certain embodiments, the processing device 114 can be configured to determine the height data based on distance data of the robotic arm portion 106 during the image capture process associated with the object 116. For example, the distance data can be determined based on starting coordinates of the robotic arm portion 106 at the beginning of the image capture process and ending coordinates of the robotic arm portion 106 at the end of the image capture process.

[0032] Additionally, in one or more embodiments, the processing device 114 can be configured to determine, based on the height data, position data of the object 116 relative to a conveyor belt of the conveyor system 110 or another surface (e.g., a pallet surface) of the conveyor system 110. For example, the position data can correspond to a certain coordinate for the robotic arm portion 106 such that the end effector 108 can release the object 116. In certain embodiments, the processing device 114 can be configured to determine, based on the height data, one or more movement commands for the robotic arm portion 106 and / or the end effector 108. In certain embodiments, the processing device 114 can be configured to control, based on the height data, gripper commands for the end effector 108 relative to the object 116. For example, the position data can correspond to a certain coordinate for the robotic arm portion 106 to initiate a gripper release command for the end effector 108. In certain embodiments, the processing device 114 can be configured to control, based on the height data, movement commands for the robotic arm portion 106 relative to a conveyor belt of the conveyor system 110. For example, the processing device 114 can be configured to determine an end coordinate for the robotic arm portion 106 such that the end effector 108 can release the object 116. In certain embodiments, the object 116, based on the position data, can be placed on a conveyor belt of the conveyor system 110 or another surface (e.g., a pallet surface) of the conveyor system 110.

[0033] Figure 2 A system 100’ is shown that provides an example environment in which one or more described features of one or more embodiments of the present disclosure can be implemented. The system 100’ can be an alternative embodiment of the system 100. Further, the system 100’ can be a robotic conveyor system. The system 100’ includes an automated industrial system 101 and a conveyor system 110. In one or more embodiments, the automated industrial system 101 includes a base portion 102, a column portion 104, a robotic arm portion 106, and / or an end effector 108. Further, in one or more embodiments, a set of image capture devices 112 1-N and / or a processing device 114 is integral with the automated industrial system 101, where N is an integer. In embodiments, respective image capture devices from the set of image capture devices 112 1-N may include one or more sensors configured to scan the object 116 to generate respective image capture data associated with the object 116. In embodiments, the image capture device 1121may be a first LiDAR device, the image capture device 1122may be a second LiDAR device, and so on. In another embodiment, the image capture device 1121may be a first camera device, the image capture device 1122may be a second camera device, and so on.

[0034] In one or more embodiments, the set of image capture devices 112 1-N may be integral with the automated industrial system 101. For example, the image capture devices 112 can be mounted to the automated industrial system 101. In embodiments, the set of image capture devices 112 1-N may be mounted on the column portion 104. For example, in certain embodiments, the set of image capture devices 112 1-N may be arranged in a vertical line (e.g., a vertical axis) relative to the column portion 104. In another embodiment, the set of image capture devices 112 1-N may be mounted on the robotic arm portion 106. For example, in certain embodiments, the set of image capture devices 112 1-N may be arranged along an axis relative to the robotic arm portion 106. However, it should be appreciated that, in certain embodiments, the set of image capture devices 112 1-N may be mounted on another portion of the automated industrial system 101 (e.g., another mechanical structure, another robotic structure, etc.). In one or more embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to rotate. For example, in one or more embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to perform a rotation operation (e.g., rotation operation 113) based on movement of the robotic arm portion 106. In embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to rotate about respective horizontal axes. For example, image capture device 1121 can be configured to rotate about a first horizontal axis, and image capture device 1122 can be configured to rotate about a second horizontal axis parallel to the first horizontal axis. Respective image capture devices from the set of image capture devices 112 1-N may perform a rotation operation to scan an object 116 grasped by the end effector 108. In certain embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to rotate about a horizontal axis parallel to a conveyor belt or a pallet surface of the conveyor system 110. Additionally or alternatively, respective image capture devices from the set of image capture devices 112 1-N may be configured to rotate relative to movement of the robotic arm portion 106. In certain embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to counter-rotate relative to movement of the robotic arm portion 106.

[0035] Respective image capture devices from the set of image capture devices 112 1-NThe respective image capture devices of the set of image capture devices 112 1-N The respective image capture devices of the set of image capture devices 112 1-N The respective image capture devices of the set of image capture devices 112

[0036] Figure 3 A system 100” that provides an example environment in which one or more described features of one or more embodiments of the present disclosure can be implemented is shown. System 100” can be an alternative embodiment of system 100 and / or system 100’. Further, system 100” can be a robotic transfer system. System 100” includes an automated industrial system 101, a transfer system 110, and a column portion 304. In one or more embodiments, automated industrial system 101 includes a base portion 102, a column portion 104, a robotic arm portion 106, and / or an end effector 108. In one or more embodiments, processing device 114 is integral with automated industrial system 101. Further, in one or more embodiments, a set of image capture devices 312 1-M are integral with column portion 304, where M is an integer. In one aspect, the set of image capture devices 312 1-MThe associated column portion 304 can be a first column portion of the automated industrial system 101, and the column portion 104 can be a second column portion of the automated industrial system 101 attached to the robotic arm portion 106. In another aspect, the column portion 304 can be positioned at a distance from the column portion 104 attached to the robotic arm portion 106. In certain embodiments, the column portion 304 is a standalone column or another mechanical structure of the automated industrial system 101.

[0037] The set of image capture devices 312 1-M may include one or more image capture devices. In embodiments, respective image capture devices from the set of image capture devices 312 1-M may include one or more sensors configured to scan the object 116 to generate respective image capture data associated with the object 116. In embodiments, the image capture device 3121may be a first LiDAR device, the image capture device 3122may be a second LiDAR device, and so on. In another embodiment, the image capture device 3121may be a first camera device, the image capture device 3122may be a second camera device, and so on. In certain embodiments, the set of image capture devices 312 1-M may be mounted on the column portion 304. For example, in certain embodiments, the set of image capture devices 312 1-M may be arranged in a vertical line (e.g., a vertical axis) with respect to the column portion 304. In one or more embodiments, respective image capture devices from the set of image capture devices 312 1-M may be configured to rotate. For example, in one or more embodiments, respective image capture devices from the set of image capture devices 312 1-M may be configured to perform a rotation operation (e.g., the rotation operation 113) based on movement of the robotic arm portion 106. In embodiments, respective image capture devices from the set of image capture devices 312 1-M may be configured to rotate about respective horizontal axes. For example, the image capture device 3121may be configured to rotate about a first horizontal axis, and the image capture device 3122may be configured to rotate about a second horizontal axis parallel to the first horizontal axis. Respective image capture devices from the set of image capture devices 312 1-M may perform a rotation operation to scan the object 116 grasped by the end effector 108. In certain embodiments, respective image capture devices from the set of image capture devices 312 1-M may be configured to rotate about horizontal axes parallel to a surface of a conveyor belt or a pallet of the conveyor system 110. Additionally or alternatively, respective image capture devices from the set of image capture devices 312 1-MThe respective image capture devices of the set of image capture devices 312 1-M The respective image capture devices of the set of image capture devices 312

[0038] The respective image capture devices of the set of image capture devices 312 1-M may be configured to generate respective image capture data associated with the object 116. For example, in certain embodiments, the image capture device 3121may generate first image capture data associated with the object 116, the image capture device 3122may generate second image capture data associated with the object 116, and so on. In one or more embodiments, the processing device 114 can be configured to determine height data for the object 116 based on respective image capture data provided by respective image capture devices from the set of image capture devices 312 1-M may be configured to generate respective image capture data associated with the object 116. For example, in certain embodiments, the image capture device 3121may generate first image capture data associated with the object 116, the image capture device 3122may generate second image capture data associated with the object 116, and so on. In one or more embodiments, the processing device 114 can be configured to determine height data for the object 116 based on respective image capture data provided by respective image capture devices from the set of image capture devices 312 1-M may be configured to generate respective image capture data associated with the object 116. For example, in certain embodiments, the image capture device 3121may generate first image capture data associated with the object 116, the image capture device 3122may generate second image capture data associated with the object 116, and so on. In one or more embodiments, the processing device 114 can be configured to determine height data for the object 116 based on respective image capture data provided by respective image capture devices from the set of image capture devices 312

[0039] Figure 4 A system 100”’ is shown that provides an example environment in which one or more described features of one or more embodiments of the present disclosure can be implemented. The system 100”’ can be an alternative embodiment of the system 100, the system 100’, and / or the system 100”. Further, the system 100”’ can be a robotic transfer system. The system 100”’ includes an automated industrial system 101, a transfer system 110, and a column portion 304. In one or more embodiments, the automated industrial system 101 includes a base portion 102, a column portion 104, a robotic arm portion 106, and / or an end effector 108. In one or more embodiments, the set of image capture devices 1121-N and / or the processing device 114 is integral with the automated industrial system 101. Further, in one or more embodiments, the set of image capture devices 312 1-M is integral with the column portion 304. In one aspect, the column portion 304 associated with the set of image capture devices 312 1-M may be a first column portion of the automated industrial system 101, and the column portion 104 associated with the set of image capture devices 112 1-N may be a second column portion of the automated industrial system 101. In another aspect, the column portion 304 can be positioned at a distance from the column portion 104. In certain embodiments, the column portion 304 is a standalone column or another mechanical structure of the automated industrial system 101.

[0040] In one or more embodiments, the set of image capture devices 112 1-N may be integral with the automated industrial system 101. For example, the image capture devices 112 can be mounted to the automated industrial system 101. In embodiments, the set of image capture devices 112 1-N may be mounted on the column portion 104. For example, in certain embodiments, the set of image capture devices 112 1-N may be arranged in a vertical line (e.g., a vertical axis) relative to the column portion 104. In another embodiment, the set of image capture devices 112 1-N may be mounted on the robotic arm portion 106. For example, in certain embodiments, the set of image capture devices 112 1-N may be arranged along an axis relative to the robotic arm portion 106. However, it should be appreciated that, in certain embodiments, the set of image capture devices 1121-N can be mounted on another portion of the automated industrial system 101 (e.g., another mechanical structure, another robotic structure, etc.). In one or more embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to rotate. For example, in one or more embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to perform a rotation operation (e.g., rotation operation 113) based on movement of the robotic arm portion 106. Respective image capture devices from the set of image capture devices 112 1-N may perform a rotation operation to scan an object 116 grasped by the end effector 108. In certain embodiments, respective image capture devices from the set of image capture devices 112 1-N may be configured to rotate about a horizontal axis that is parallel to a conveyor belt or a pallet surface of the conveyor system 110. Additionally or alternatively, respective image capture devices from the set of image capture devices 112 1-NThe respective image capture devices of the set of image capture devices 112 1-N may be configured to rotate in reverse with respect to movement of the robotic arm portion 106.

[0041] Additionally, in one or more embodiments, the set of image capture devices 312 1-M may include one or more image capture devices. In certain embodiments, the set of image capture devices 312 1-M may be mounted on the column portion 304. For example, in certain embodiments, the set of image capture devices 312 1-M may be arranged in a vertical line (e.g., a vertical axis) with respect to the column portion 304. In one or more embodiments, the respective image capture devices of the set of image capture devices 312 1-M may be configured to rotate. For example, in one or more embodiments, the respective image capture devices of the set of image capture devices 312 1-M may be configured to perform a rotation operation (e.g., the rotation operation 113) based on movement of the robotic arm portion 106. The respective image capture devices of the set of image capture devices 312 1-M may perform a rotation operation to scan an object 116 grasped by the end effector 108. In certain embodiments, the respective image capture devices of the set of image capture devices 312 1-M may be configured to rotate about a horizontal axis that is parallel to a surface of a conveyor belt or pallet of the conveyor system 110. Additionally or alternatively, the respective image capture devices of the set of image capture devices 312 1-M may be configured to rotate with respect to movement of the robotic arm portion 106. In certain embodiments, the respective image capture devices of the set of image capture devices 312 1-M may be configured to rotate in reverse with respect to movement of the robotic arm portion 106.

[0042] The respective image capture devices of the set of image capture devices 112 1-N may be configured to generate respective image capture data associated with the object 116. For example, in certain embodiments, the image capture device 1121may generate first image capture data associated with the object 116, the image capture device 1122may generate second image capture data associated with the object 116, and so on. Further, in certain embodiments, the respective image capture devices of the set of image capture devices 312 1-MThe respective image capture devices of the set of image capture devices 312 can also be configured to generate respective image capture data associated with the object 116. For example, in certain embodiments, the image capture device 3121 can generate third image capture data associated with the object 116, the image capture device 3122 can generate fourth image capture data associated with the object 116, and so on. In one or more embodiments, the processing device 312 can be configured to determine height data for the object 116 based on respective image capture data provided by respective image capture devices from the set of image capture devices 312 1-N and / or the set of image capture devices 312 1-M For example, in certain embodiments, the processing device 312 can be configured to determine height data for the object 116 based on the first image capture data associated with the image capture device 1121, the second image capture data associated with the image capture device 1122, the third image capture data associated with the image capture device 3121, the fourth image capture data associated with the image capture device 3122, and so on.

[0043] Figure 5 An exemplary environment of a processing device 114 that can implement one or more described features of one or more embodiments of the disclosure is shown. The processing device 114 can include a height computation component 504, a position computation component 506, and / or a control component 508. Additionally, in certain embodiments, the processing device 114 can include a processor 510 and / or a memory 512. In certain embodiments, one or more aspects of the processing device 114 (and / or other systems, devices, and / or processes disclosed herein) can constitute executable instructions embodied within a computer-readable storage medium (e.g., the memory 512). For example, in one embodiment, the memory 512 can store computer-executable components and / or executable instructions (e.g., program instructions). Moreover, the processor 510 can facilitate execution of the computer-executable components and / or executable instructions (e.g., program instructions). In an exemplary embodiment, the processor 510 can be configured to execute instructions stored in the memory 512 or that can otherwise be accessible to the processor 510.

[0044] The processor 510 can be a hardware entity (e.g., physically embodied in circuitry) capable of performing operations in accordance with one or more embodiments of the present disclosure. Alternatively, in embodiments in which the processor 510 is embodied as an executor of software instructions, the software instructions can configure the processor 510 to perform one or more algorithms and / or operations described herein in response to the software instructions being executed. In one embodiment, the processor 510 can be a single-core processor, multi-core processor, multiple processors within the processing device 114, remote processors (e.g., processors implemented on a server), and / or virtual machines. In certain embodiments, the processor 510 is in communication with the memory 512, the altitude computation component 504, the location computation component 506, and / or the control component 508 via a bus to, for example, facilitate the transfer of data between the processor 510, the memory 512, the altitude computation component 504, the location computation component 506, and / or the control component 508. The processor 510 can be embodied in a number of different ways, and in certain embodiments, can comprise one or more processing devices configured to independently execute instructions. Additionally or alternatively, the processor 510 can include one or more processors in a serial or parallel configuration configured to independently execute instructions, to pipeline data, and / or to multi-threaded execute instructions. The memory 512 can be non-transitory and can include, for example, one or more volatile memory devices and / or one or more non-volatile memory devices. In other words, for example, the memory 512 can be an electronic storage device (e.g., computer readable storage medium). The memory 512 can be configured to store information, data, content, one or more applications, one or more instructions, and the like for enabling the processing device 114 to perform various functions in accordance with one or more embodiments disclosed herein. As used in this disclosure, the terms “component,” “system,” “device,” and the like can be and / or can include computer-related entities. For example, a “component,” “system,” “device,” and the like as disclosed herein can be and / or can include hardware, software, or a combination thereof. In embodiments, a component can be a process, a processor, a circuit, an executable, a thread of execution, a program, and / or a computer entity.

[0045] The processing device 114 (e.g., the altitude computation component 504 of the processing device 114) can receive image capture data 514. The image capture data 514 can be received from one or more image capture devices, such as the image capture device 112 and / or from a set of image capture devices 112 1-N and / or a set of image capture devices 312 1-Mone or more image capture devices) is provided. In one or more embodiments, the height computation component 504 can be configured to determine height data for the object 116 based on the image capture data 514. The height data can correspond to a length between a top surface of the object (e.g., the object 116) and a bottom surface of the object. In certain embodiments, the height computation component 504 can be configured to identify a beginning of an image capture process associated with the object based on the image capture data 514 and an end of the image capture process associated with the object based on the image capture data 514. For example, the beginning of the image capture process can correspond to a portion of the image capture data that corresponds to the top surface of the object and the end of the image capture process can correspond to another portion of the image capture data that corresponds to the bottom surface of the object. Further, the height computation component 504 can be configured to determine the height data for the object based on the beginning of the image capture process and the end of the image capture process. In certain embodiments, the height computation component 504 can be configured to determine the height data based on distance data of an image capture device (e.g., the image capture device 112 or one or more image capture devices from the set of image capture devices 112 1-N and / or the set of image capture devices 312 1-M during the image capture process associated with the object. For example, a degree of rotation of the image capture device can be determined based on a starting coordinate of the image capture device at the beginning of the image capture process and an ending coordinate of the image capture device at the end of the image capture process. In certain embodiments, the height computation component 504 can be configured to determine the height data based on distance data of a robotic arm portion (e.g., the robotic arm portion 106) during the image capture process associated with the object. For example, the distance data can be determined based on a starting coordinate of the robotic arm portion at the beginning of the image capture process and an ending coordinate of the robotic arm portion at the end of the image capture process.

[0046] Additionally, in one or more embodiments, the position computing component 506 can be configured to determine position data 516 for the object relative to the conveying system 110 based on the height data. For example, the position computing component 506 can be configured to determine position data 516 for the object relative to a conveyor belt of the conveying system 110 based on the height data. In another example, the position computing component 506 can be configured to determine position data 516 for the object relative to a pallet (e.g., a pallet surface) of the conveying system based on the height data. For example, the position data 516 can correspond to a certain coordinate for the robotic arm portion such that an end effector (e.g., the end effector 108) attached to an end of the robotic arm portion can release the object. In certain embodiments, the control component 508 can be configured to control a gripper command for the end effector relative to the object based on the height data. For example, the position data 516 can correspond to a certain coordinate for the control component 508 to initiate a gripper release command for the end effector. In certain embodiments, the control component 508 can be configured to control a movement command for the robotic arm portion relative to the conveyor belt or another surface based on the height data. For example, the control component 508 can be configured to determine an end coordinate for the robotic arm portion such that the end effector can release the object (e.g., place the object on the conveyor belt or surface).

[0047] In certain embodiments, the control component 508 can generate one or more control signals for the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108) based on the position data 516. In certain embodiments, the control component 508 can be one or more movement commands for one or more portions of the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108). In certain embodiments, the control component 508 can modify one or more settings of the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108) based on the position data 516. The control component 508 can generate one or more control signals to facilitate, for example, a stacking or unstacking associated with the object 116. In certain embodiments, the one or more control signals can include a value to increase or decrease a movement speed for a portion of the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108). For example, the one or more control signals can include a certain positive value to increase a speed of a portion of the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108) by an amount. In another example, the one or more control signals can include a certain negative value to decrease a speed of a portion of the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108) by an amount. Additionally or alternatively, in certain embodiments, the one or more control signals can include a value to control a direction of movement of the robotic arm portion 106. For example, the one or more control signals can include a certain value (e.g., a first binary value) to control a direction of the robotic arm portion 106 in an upward direction. In another example, the one or more control signals can include a certain value (e.g., a first binary value) to control a direction of the robotic arm portion 106 in a downward direction.

[0048] In certain embodiments, the control component 508 can generate and / or modify one or more control policies associated with a portion of the automated industrial system 101 (e.g., for the robotic arm portion 106 and / or the end effector 108). For example, the control policy can provide an optimal position for an object relative to the conveyance system 110. The one or more control policies can include one or more rules and / or one or more actions to facilitate the optimal position for the object relative to the conveyance system 110. The one or more rules and / or one or more actions can relate to movement of the robotic arm portion 106 and / or a position of a gripper command for the end effector 108. Accordingly, the processing device 114 can provide the position data 516 and / or one or more control signals to improve performance of the conveyance system 110, to increase efficiency of the conveyance system 110, to improve flow of objects transported via the conveyance system 110, and / or to improve speed of objects transported via the conveyance system 110.

[0049] Figure 6Another example environment of a processing device 114 that can implement one or more described features of one or more embodiments of the disclosure is shown. The processing device 114 can include a height computation component 504, a position computation component 506, a control component 508, and / or a machine learning component 602. Additionally, in certain embodiments, the processing device 114 can include a processor 510 and / or a memory 512. The machine learning component 604 can employ a machine learning model that is trained to determine height data and / or position data for an object. In embodiments, the machine learning model can be a convolutional neural network that is trained to determine height data and / or position data for an object. For example, in one embodiment, the convolutional neural network can be a deep neural network that is trained to analyze image capture data based on a shared weight architecture and / or translational invariance properties between a series of convolutional layers, one or more pooling layers, one or more fully connected layers, and / or one or more normalization layers. In certain embodiments, the machine learning component 604 can modify one or more weights and / or one or more parameters of one or more convolutional layers of the machine learning model based on the height data and / or position data determined for the object. In certain embodiments, the machine learning component 604 can determine one or more classifications, one or more correlations, one or more inferences, one or more patterns, one or more features, and / or other information related to the image capture data 514 to facilitate determining the height data and / or position data 516 for the object. In certain embodiments, the machine learning component 604 can employ machine learning to determine a top surface of the object based on the image capture data 514, a bottom surface of the object based on the image capture data 514, a start of an image capture process associated with the image capture data 514, and an end of the image capture process associated with the image capture data 514, and / or another type of feature associated with the image capture data 514. In another aspect, the machine learning component 604 determines the height data and / or position data for the object based on historical image capture data associated with one or more other objects.

[0050] Figure 7 An example embodiment of an automated industrial system 101 that provides an example environment in which one or more described features of one or more embodiments of the disclosure can be implemented is shown. In one or more embodiments, the automated industrial system 101 includes a base portion 102, a column portion 104, a robotic arm portion 106, and / or an end effector 108. Further, in one or more embodiments, the image capture device 112 (e.g., a set of image capture devices 112 1-N) and / or processing device 114 is integral with automated industrial system 101. In one or more embodiments, image capture device 112 can be configured to perform a rotation operation 113 based on movement 703 of robotic arm portion 106. Image capture device 112 can perform rotation operation 113 to scan object 116 grasped by end effector 108. In an example, movement 703 of robotic arm portion 106 can be associated with placement of object 116 on a conveyor belt (e.g., of conveyance system 110). In another example, movement 703 of robotic arm portion 106 can be associated with obtaining object 116 from a pallet. In certain embodiments, image capture device 112 can be configured to rotate about an axis 701 via rotation operation 113. Axis 701 can be an axis relative to image capture device 112 (e.g., relative to a sensor of image capture device 112). In certain embodiments, axis 701 can be parallel to a conveyor belt of conveyance system 110. Alternatively, in certain embodiments, axis 701 can be parallel to another surface of conveyance system 110 (e.g., a pallet surface). Additionally or alternatively, image capture device 112 can be configured to rotate relative to movement 703 of robotic arm portion 106. In certain embodiments, image capture device 112 can be configured to counter-rotate relative to movement 703 of robotic arm portion 106. For example, in response to movement 703 of robotic arm portion 106 being in a first direction, rotation operation 113 can rotate image capture device 112 in a second direction. In one embodiment, in response to movement 703 of robotic arm portion 106 being in an upward direction, rotation operation 113 can rotate image capture device 112 in a downward direction. In another embodiment, in response to movement 703 of robotic arm portion 106 being in a downward direction, rotation operation 113 can rotate image capture device 112 in an upward direction.

[0051] Figure 8 A system 800 is shown that is associated with one or more described features of one or more embodiments of the present disclosure. The system 800 includes an image capture device 812, a processing device 114, and an automated industrial system 101. In an embodiment, image capture device 812 can correspond to image capture device 112. In another embodiment, image capture device 812 can correspond to a group of image capture devices 112 1-N and / or a group of image capture devices 312 1-Nimage capture device 812 can generate image capture data 514. Further, the processing device 114 can employ the image capture data 514 to generate position data 516. For example, in one or more embodiments, the height computation component 504 of the processing device 114 can generate height data 806 based on the image capture data 514. Further, the position computation component 506 of the processing device 114 can generate position data 516 based on the height data 806. In one or more embodiments, the processing device 114 can provide the position data 516 to the automated industrial system 101. For example, the automated industrial system 101 can employ the position data 516 to determine one or more movement commands for one or more portions of the automated industrial system 101. In one example, the automated industrial system 101 can employ the position data 516 to determine one or more movement commands for the robotic arm portion 106 of the automated industrial system 101. In another example, the automated industrial system 101 can additionally or alternatively employ the position data 516 to determine one or more grasping commands for the end effector 108 of the automated industrial system 101.

[0052] Figure 9 A computer-implemented method 900 for facilitating object height detection for stacking operations and / or unstacking operations is shown, in accordance with one or more embodiments described herein. For example, the computer-implemented method 900 can be associated with the processing device 114. In one or more embodiments, the computer-implemented method 900 begins with receiving, by a device comprising a processor (e.g., by the height computation component 504), image capture data from a rotatable image capture device associated with an automated industrial system, the image capture data associated with an image capture process for an object grasped by an end effector associated with the automated industrial system (block 902). In an embodiment, the image capture data is LiDAR data provided by the rotatable image capture device. In another embodiment, the automated industrial system is a robotic system (e.g., an industrial robotic system). The object can be a physical item, element, device, etc. to be transported via a conveyor system. For example, the object can be a package, a parcel, a box, a bin, a carton, a pallet, and / or another object to be transported via a conveyor system. In certain embodiments, the object can be a dynamic object that is not fixed in position. For example, the object can be moved in, moved out, or otherwise moved via a conveyor system. The object can also comprise a height, a size, a shape, a color, and / or another physical characteristic. In one embodiment, the object can be obtained from a pallet to perform one or more unstacking operations associated with the object such that the object can be placed on a conveyor belt. In another embodiment, the object can be obtained from a conveyor belt to perform one or more stacking operations associated with the object such that the object can be placed on a pallet.

[0053] The computer-implemented method 900 further includes determining, by the device (e.g., by the height computation component 504), height data for the object based on the image capture data (block 904). The height data can be a predicted height between a top surface of the object and a bottom surface of the object. In embodiments, the height data can be determined based on a start of an image capture process associated with the object and an end of the image capture process associated with the object. In embodiments, the start of the image capture process and / or the end of the image capture process can correspond to a certain degree of change and / or a certain pattern in the image capture data. In certain embodiments, the height data can be determined based on distance data (e.g., a degree of rotation of the rotatable image capture device) of the rotatable image capture device during the image capture process associated with the object. For example, the degree of rotation of the rotatable image capture device can correspond to a distance traveled by the rotatable image capture device during the image capture process. In certain embodiments, the height data can be determined based on distance data of a robotic arm portion attached to the end effector during the image capture process associated with the object. For example, the position data can correspond to a distance between a start coordinate and an end coordinate of the robotic arm portion attached to the end effector during the image capture process.

[0054] The computer-implemented method 900 further includes determining, by the device (e.g., by the position computation component 506), position data for the object relative to the conveyance system based on the height data (block 906). For example, the position data for the object relative to the conveyor belt can be determined based on the height data. In another example, the position data for the object relative to the pallet can be determined based on the height data. In certain embodiments, the position data can correspond to one or more movement commands for the robotic arm portion. For example, the position data can correspond to an end coordinate of the robotic arm portion for a stacking operation or a de-stacking operation. In another example, the position data can correspond to a coordinate of the robotic arm portion to initiate control of gripper commands for the end effector relative to the object.

[0055] In some example embodiments, some of the operations herein can be modified or further amplified as described below. Moreover, in some embodiments, additional optional operations can also be included. It should be understood that each of the modifications, optional additions, or amplifications described herein can be included alone or in combination with any other feature described herein in the operations herein.

[0056] The foregoing method descriptions and the process flow diagrams are provided merely as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be appreciated by one of skill in the art the order of steps in the foregoing embodiments can be performed in any order. Words such as "thereafter," "then," "next," etc. are not intended to limit the order of the steps; these words are simply used to guide the reader through the description of the methods. Further, any reference to claim elements in the singular, for example, using the articles "one," "a" or "an," is not

[0057] The hardware used to implement various illustrative logics, logical blocks, modules, and circuits described in connection with the aspects disclosed herein can comprise general purpose processors, digital signal processors (DSPs), application specific processors, such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor can be a microprocessor, but, in the alternative, the processor can be any processor, controller, microcontroller, or state machine. A processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Alternatively, some steps or methods can be performed by circuitry that is specific to a given function.

[0058] In one or more exemplary embodiments, the functions described herein can be implemented in hardware, software, firmware, or combinations thereof. In implementations relying on firmware or software, the functions can be implemented in one or more of the following: processing units, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), logic circuitry, other hardware, or any combination thereof. In one exemplary embodiment, processing units, DSPs, ASICs, FPGAs, logic circuitry, and other hardware can be configured to operate in accordance with a 3GPP standard, although other standards are possible. In one exemplary embodiment, processing units, DSPs, ASICs, FPGAs, logic circuitry, and other hardware can be configured to operate in accordance with a 4G standard, although other standards are possible. In one exemplary embodiment, processing units, DSPs, ASICs, FPGAs, logic circuitry, and other hardware can be configured to operate in accordance with a 5G standard, although other standards are possible. In one exemplary embodiment, processing units, DSPs, ASICs, FPGAs, logic circuitry, and other hardware can be configured to operate in accordance with a 6G standard, although other standards are possible. TMor other storage devices that store data magnetically or optically with lasers. Combinations of the above are also included within the scope of computer and processor readable media. Additionally, any combinations of instructions of the above on one or more non-transitory processor readable or computer readable media are included within the scope of computer program products.

[0059] Many modifications and other embodiments of the applications set forth herein will come to mind to one skilled in the art to which the application pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Although specific terms are employed above, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A system comprising: An automated industrial system, comprising at least a column section, a robotic arm section, and an end effector configured to grasp an object; An image capture device, which is mounted on the automated industrial system and configured to rotate in the opposite direction to the movement of the robotic arm portion, to scan an object grasped by the end effector and generate image capture data associated with the object; and A processing device configured to determine height data for the object based on the image capture data. The height data is determined based on distance data from the image capture device during the image capture process associated with the object, and Wherein, the distance data is based on: (i) the starting coordinates of the robot arm portion at the start of the image capture process, the starting coordinates corresponding to a first portion of the image capture data associated with the top surface of the object, and (ii) the ending coordinates of the robot arm portion at the end of the image capture process, the ending coordinates corresponding to a second portion of the image capture data associated with the bottom surface of the object, and The position data of the object relative to the conveying system is determined based on the height data.

2. The system of claim 1, wherein the image capture device is mounted on the column portion of the automated industrial system.

3. The system of claim 2, wherein the column portion associated with the image capture device is attached to the robotic arm portion.

4. The system of claim 1, wherein the processing device is configured to identify the start of an image capture process associated with the object and the end of the image capture process associated with the object based on the image capture data.

5. The system of claim 1, wherein the image capture device is a LiDAR device, the LiDAR device is configured to generate LiDAR data associated with the object, and wherein the processing device is configured to determine height data for the object based on the LiDAR data.

6. The system of claim 1, wherein the processing device is configured to control gripper commands for the end effector relative to the object based on the height data.

7. The system of claim 1, wherein the processing device is configured to control movement commands for the robotic arm portion relative to the conveying system based on the height data.

8. The system of claim 1, wherein the column portion associated with the image capturing device is a first column portion, wherein the image capturing device is mounted on the first column portion, wherein the automated industrial system further includes a second column portion attached to the robotic arm portion, and wherein the first column portion is positioned at a distance from the second column portion.

9. The system of claim 1, wherein the image capturing device is a first image capturing device, wherein the image capturing data is first image capturing data, wherein the first image capturing device is mounted on the column portion, wherein the automated industrial system further includes a second image capturing device, the second image capturing device being mounted on the column portion and configured to rotate based on the movement of the robotic arm portion to scan the object grasped by the end effector and generate second image capturing data associated with the object, and wherein the processing device is configured to determine the height data for the object based on the first image capturing data and the second image capturing data.

10. The system of claim 9, wherein the first image capturing device and the second image capturing device are arranged vertically relative to the first image capturing device.

11. A system comprising: An automated industrial system, comprising at least a column section, a robotic arm section, and an end effector configured to grasp an object; A first image capture device, mounted on the automated industrial system and configured to rotate in the opposite direction to the movement of the robotic arm portion, scans the object grasped by the end effector and generates first image capture data associated with the object; A second image capture device, mounted on the automated industrial system and configured to rotate in the opposite direction to the movement of the robotic arm portion, scans the object grasped by the end effector and generates second image capture data associated with the object; and A processing device configured to determine height data for the object based on the first image capture data and the second image capture data. The height data is determined based on distance data between the first and second image capture devices during the image capture process associated with the object, and The distance data is based on: (i) the starting coordinates of the robot arm portion at the start of the image capture process, the starting coordinates corresponding to a first portion of the first image capture data and the second image capture data associated with the top surface of the object, and (ii) the ending coordinates of the robot arm portion at the end of the image capture process, the ending coordinates corresponding to a second portion of the first image capture data and the second image capture data associated with the bottom surface of the object, and the height data is used to determine the position data of the object relative to the conveying system.

12. The system of claim 11, wherein the processing device is configured to identify the start of an image capture process associated with the object and the end of the image capture process associated with the object based on the first image capture data and the second image capture data.

13. The system of claim 11, wherein the first image capturing device is configured to rotate about a first horizontal axis, and the second image capturing device is configured to rotate about a second horizontal axis parallel to the first horizontal axis.

14. The system of claim 11, wherein the first image capturing device and the second image capturing device are mounted on the column portion, and wherein the column portion is attached to the robot arm portion.

15. The system of claim 11, wherein the column portion is a first column portion attached to the robot arm portion, wherein the automated industrial system further includes a second column portion, wherein the second column portion is positioned at a distance from the first column portion, and wherein the first image capturing device and the second image capturing device are mounted on the second column portion.

16. The system of claim 11, wherein the column portion is a first column portion attached to the robot arm portion, wherein the automated industrial system further includes a second column portion located at a distance from the first column portion, wherein the first image capturing device is mounted on the first column portion, and wherein the second image capturing device is mounted on the second column portion.

17. A computer-implemented method, comprising: Image capture data is received by a device including a processor from a rotatable image capture device associated with an automated industrial system, the automated industrial system including at least a column portion, a robotic arm portion, and an end effector configured to grasp an object, the image capture data being associated with an image capture process of the object grasped by the end effector, wherein the image capture device is configured to rotate in the opposite direction to the movement of the robotic arm portion; as well as The device determines the height data for the object based on the image capture data associated with the object; Determining the height data further includes determining the height data based on distance data from the image capture device during the image capture process associated with the object, and Wherein, the distance data is based on: (i) the starting coordinates of the robotic arm portion at the start of the image capture process, the starting coordinates corresponding to a first portion of the image capture data associated with the top surface of the object; and (ii) the ending coordinates of the robotic arm portion at the end of the image capture process, the ending coordinates corresponding to a second portion of the image capture data associated with the bottom surface of the object; and The device determines the position data of the object relative to the conveying system based on the height data.

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