Methods, apparatuses and computer program products for depalletizing mixed objects

A computer-implemented method comprising:

• receiving, from a perception subsystem associated with an object depalletization system, first imaging data associated with a plurality of objects disposed on a pallet;
• calculating, based at least in part on the first imaging data, one or more comparative dimension measures associated with the plurality of objects;
• determining whether the one or more comparative dimension measures satisfy a comparative dimension threshold range;
• and
• in response to determining that the one or more comparative dimension measures satisfy the comparative dimension threshold range, transmitting control instructions to cause an execution subsystem comprising a depalletizer device associated with the object depalletization system to operate in a constant pallet mode in which all objects on a top layer of the pallet are depalletized using same settings for the depalletizer device;
• and
• transmitting control instructions to the execution subsystem to end the constant pallet mode when an object height difference between a first object and a second object of the plurality of objects in the same top layer of the pallet is not within a height difference threshold range, wherein height of the first object and the second object of the plurality of objects is received from the execution subsystem associated with the object depalletization system.

A computer program product comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising an executable portion configured to:

• receive, from a perception subsystem associated with an object depalletization system, first imaging data associated with a plurality of objects disposed on a pallet;
• calculate, based at least in part on the first imaging data, one or more comparative dimension measures associated with the plurality of objects;
• determine whether the one or more comparative dimension measures satisfy a comparative dimension threshold range;
• and
• in response to determining that the one or more comparative dimension measures satisfy the comparative dimension threshold range, transmit control instructions to cause an execution subsystem comprising a depalletizer device associated with the object depalletization system to operate in a constant pallet mode in which all objects on a top layer of the pallet are depalletized using same settings for the depalletizer device;
• and
• transmit control instructions to the execution subsystem to end the constant pallet mode when an object height difference between a first object and a second object of the plurality of objects in the same top layer of the pallet is not within a height difference threshold range, wherein height of the first object and the second object of the plurality of objects is received from the execution subsystem associated with the object depalletization system.