METHODS, APPARATUSES AND COMPUTER PROGRAM PRODUCTS FOR PROVIDING A DYNAMIC CLEARANCE SYSTEM FOR DEPALLETIZING OBJECTS
Methods, apparatuses, systems, computing devices, and/or the like are provided. An example method may include determining a height value associated with a highest object on a pallet; causing a light detection and ranging (LiDAR) sensor to travel to a height based at least in part on the height value; determining whether a detection signal from the LiDAR sensor indicates a first clear status; in response to determining that the detection signal indicates the first clear status, causing a robotic arm to lift the object until the detection signal indicates a blocked status and then a second clear status.
1 . An apparatus comprising at least one processor and at least one non-transitory memory comprising a computer program code, the at least one non-transitory memory and the computer program code configured to, with the at least one processor, cause the apparatus to:
determine a height value associated with a highest object on a pallet;
cause a light detection and ranging (LiDAR) sensor to travel to a height based at least in part on the height value;
determine whether a detection signal from the LiDAR sensor indicates a first clear status; and
in response to determining that the detection signal does not indicate the first clear status, determine whether to search for the highest object on the pallet.
2 . The apparatus of claim 1 , wherein the at least one non-transitory memory and the computer program code are configured to, with the at least one processor, cause the apparatus to:
cause the LiDAR sensor to travel to a height equal to the height value plus a predetermined height buffer value.
3 . The apparatus of claim 2 , wherein the predetermined height buffer value is 50 millimeters.
4 . The apparatus of claim 1 , wherein the at least one non-transitory memory and the computer program code are configured to, with the at least one processor, cause the apparatus to:
in response to determining that the detection signal indicates the first clear status, cause a robotic arm to lift an object until the detection signal indicates a blocked status and then a second clear status.
5 . The apparatus of claim 4 , wherein the at least one non-transitory memory and the computer program code are configured to, with the at least one processor, cause the apparatus to:
communicate with a robotic controller.
6 . The apparatus of claim 5 , wherein the at least one non-transitory memory and the computer program code are configured to, with the at least one processor, cause the apparatus to:
in response to a transition of the detection signal from the blocked status to the second clear status:
determine a current robotic location associated with the robotic arm;
calculate an actual height that the object has been lifted by the robotic arm; and
adjust a collision map for the robotic arm to lift the object from the pallet.
7 . The apparatus of claim 6 , wherein the at least one non-transitory memory and the computer program code are configured to, with the at least one processor, cause the apparatus to:
in response to determining to search for the highest object on the pallet, cause the LiDAR sensor to move up incrementally.
8 . A computer-implemented method comprising:
determining a height value associated with a highest object on a pallet;
causing a light detection and ranging (LiDAR) sensor to travel to a height based at least in part on the height value;
determining whether a detection signal from the LiDAR sensor indicates a first clear status; and
in response to determining that the detection signal does not indicate the first clear status, determining whether to search for the highest object on the pallet.
9 . The computer-implemented method of claim 8 comprising:
causing the LiDAR sensor to travel to a height equal to the height value plus a predetermined height buffer value.
10 . The computer-implemented method of claim 9 , wherein the predetermined height buffer value is 50 millimeters.
11 . The computer-implemented method of claim 8 comprising:
in response to determining that the detection signal indicates the first clear status, causing a robotic arm to lift an object until the detection signal indicates a blocked status and then a second clear status.
12 . The computer-implemented method of claim 11 comprising:
communicating with a robotic controller.
13 . The computer-implemented method of claim 12 further comprising:
in response to a transition of the detection signal from the blocked status to the second clear status:
determining a current robotic location associated with the robotic arm;
calculating an actual height that the object has been lifted by the robotic arm; and
adjusting a collision map for the robotic arm to lift the object from the pallet.
14 . The computer-implemented method of claim 8 comprising:
in response to determining to search for the highest object on the pallet, causing the LiDAR sensor to move up incrementally.
15 . 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:
determine a height value associated with a highest object on a pallet;
cause a light detection and ranging (LiDAR) sensor to travel to a height based at least in part on the height value;
determine whether a detection signal from the LiDAR sensor indicates a first clear status; and
in response to determining that the detection signal does not indicate the first clear status, determine whether to search for the highest object on the pallet.
16 . The computer program product of claim 15 , wherein the computer-readable program code portions comprise the executable portion configured to:
cause the LiDAR sensor to travel to a height equal to the height value plus a predetermined height buffer value.
17 . The computer program product of claim 16 , wherein the predetermined height buffer value is 50 millimeters.
18 . The computer program product of claim 15 , wherein the computer-readable program code portions comprise the executable portion configured to:
in response to determining that the detection signal indicates the first clear status, cause a robotic arm to lift an object until the detection signal indicates a blocked status and then a second clear status.
19 . The computer program product of claim 18 wherein the computer-readable program code portions comprise the executable portion configured to:
communicate with a robotic controller.
20 . The computer program product of claim 19 , wherein the computer-readable program code portions comprise the executable portion configured to:
in response to a transition of the detection signal from the blocked status to the second clear status:
determine a current robotic location associated with the robotic arm;
calculate an actual height that the object has been lifted by the robotic arm; and
adjust a collision map for the robotic arm to lift the object from the pallet.