Systems and methods for tensioning endless belts

An apparatus to adjust tension in an endless belt of an industrial machine, the apparatus comprising:

• a conveyor assembly comprising:
• a first roller defining a first groove;
• and
• an endless belt engaged with the first roller such that the endless belt moves in response to rotation of the first roller, the endless belt including:
• a first lateral side;
• a second lateral side opposite the first lateral side;
• an outer surface;
• an inner surface, opposite the outer surface, the inner surface defining a first raised feature at the first lateral side, the first raised feature configured to engage the first groove;
• a tension system comprising an actuator configured to alter a tension level in the endless belt;
• a first image sensor configured to image the first groove;
• and
• a controller comprising:
• one or more processors;
• and
• a non-transitory computer-readable storage medium coupled to the one or more processors and storing programming instructions for execution by the one or more processors, the programming instructions operable to instruct the one or more processors to:
• receive a first image from the first image sensor;
• determine a position of the first raised feature relative to the first groove based on the first image;
• and
• actuate the actuator to alter the tension level in the endless belt in response to a determination that the first raised feature is at a location relative to the first groove outside of a selected range of locations to move the first raised feature to within the selected range of locations.