Robotic depalletization system and method

A method comprising:

• moving a plurality of laser profilometers coupled to a first rail over a plurality of objects;
• measuring geometric dimensions of the plurality of objects with the plurality of laser profilometers as the plurality of laser profilometers are moved over the plurality of objects, wherein each of the plurality of laser profilometers defines a predefined range for measuring the geometric dimensions of the plurality of objects;
• moving the plurality of laser profilometers vertically relative to the plurality of objects to keep the plurality of objects within the predefined range as the plurality of objects are picked by a robotic arm;
• receiving, via at least one processor operationally coupled to the plurality of laser profilometers, the geometric dimensions of the plurality of objects;
• identifying, via the at least one processor, locations of edges of each of the plurality of objects based on the geometric dimensions of the plurality of objects;
• and
• generating, via the at least one processor, one or more signals to control the robotic arm to pick the plurality of objects based on the identified locations of the edges of each of the plurality of objects.

A robotic depalletization system comprising:

• a robotic arm comprising an end effector, the robotic arm configured to pick a plurality of objects;
• a vision system comprising:
• a first rail;
• a first actuator configured to move the first rail in a horizontal direction over the plurality of objects;
• and
• a plurality of laser profilometers coupled to the first rail, the plurality of laser profilometers configured to measure geometric dimensions of the plurality of objects while the first rail is moved over the plurality of objects;
• and
• a plurality of 2D image capturing devices positioned in a diametric view of the plurality of objects, wherein the plurality of 2D image capturing devices are configured to capture a sequence of images of the plurality of objects during the picking and placing of the plurality of objects by the robotic arm;
• and
• at least one processor operationally coupled to the plurality of laser profilometers, wherein the at least one processor is configured to:
• receive the geometric dimensions of the plurality of objects;
• identify locations of edges of each of the plurality of objects based on the geometric dimensions of the plurality of objects;
• and
• generate one or more signals to control the robotic arm to pick the plurality of objects based on the identified locations of the edges of each of the plurality of objects.