Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

Methods and systems for recognizing machine-readable information on three-dimensional (3D) objects are described. A robotic manipulator may move at least one physical object through a designated area in space. As the at least one physical object is being moved through the designated area, one or more optical sensors may determine a location of a machine-readable code on the at least one physical object and, based on the determined location, scan the machine-readable code so as to determine information associated with the at least one physical object encoded in the machine-readable code. Based on the information associated with the at least one physical object, a computing device may then determine a respective location in a physical environment of the robotic manipulator at which to place the at least one physical object. The robotic manipulator may then be directed to place the at least one physical object at the respective location.

A computer-implemented method (500) for monitoring a food processing system (100), arranged to produce a food product (102), using a data processing apparatus (112) is provided. The method comprises receiving (502) process traceability data (200) related to the food product (102), wherein the process traceability data (200) comprises information about which food processing units (104a-e) that were involved in processing the food product (102) as well as during which time slots the food processing units were involved for processing the food product (102), receiving (504) process event data (202) related to the food processing units of the food production system (100), wherein the process event data (202) comprises information about state changes of the food production units that occurred during processing of the food product (102) as well as points of time when the state changes occurred, receiving (506) settings (204) of the processing units (104a-e) associated with different states, determining (508) the settings used for the food production units (104a-e) during different time slots by combining the process event data (202) and the settings of the processing units (204) associated with the different states, and determining (510) the settings of the food production units (104a-e) used for processing the food product (102) by combining the process traceability data (200) and the settings used for the food production units during the different time slots, and providing (512) the settings of the food production units (104a-e) used for processing the food product (102).

Methods and systems for detecting and reconstructing environments to facilitate robotic interaction with such environments are described. An example method may involve determining a three-dimensional (3D) virtual environment representative of a physical environment of the robotic manipulator including a plurality of 3D virtual objects corresponding to respective physical objects in the physical environment. The method may then involve determining two-dimensional (2D) images of the virtual environment including 2D depth maps. The method may then involve determining portions of the 2D images that correspond to a given one or more physical objects. The method may then involve determining, based on the portions and the 2D depth maps, 3D models corresponding to the portions. The method may then involve, based on the 3D models, selecting a physical object from the given one or more physical objects. The method may then involve providing an instruction to the robotic manipulator to move that object.

Example systems and methods allow for dynamic updating of a plan to move objects using a robotic device. One example method includes determining a virtual environment by one or more processors based on sensor data received from one or more sensors, the virtual environment representing a physical environment containing a plurality of physical objects, developing a plan, based on the virtual environment, to cause a robotic manipulator to move one or more of the physical objects in the physical environment, causing the robotic manipulator to perform a first action according to the plan, receiving updated sensor data from the one or more sensors after the robotic manipulator performs the first action, modifying the virtual environment based on the updated sensor data, determining one or more modifications to the plan based on the modified virtual environment, and causing the robotic manipulator to perform a second action according to the modified plan.

A tool chain has a plurality of chain links arranged in a row, wherein the plurality of chain links include at least two marked chain links. The marked chain links each have information, wherein at least one spatial sequence of the information together determines a logical sequence of at least the information. The logical sequence of at least the information forms overall information for identifying a property of the tool chain.

Example methods and systems for determining 3D scene geometry by projecting patterns of light onto a scene are provided. In an example method, a first projector may project a first random texture pattern having a first wavelength and a second projector may project a second random texture pattern having a second wavelength. A computing device may receive sensor data that is indicative of an environment as perceived from a first viewpoint of a first optical sensor and a second viewpoint of a second optical sensor. Based on the received sensor data, the computing device may determine corresponding features between sensor data associated with the first viewpoint and sensor data associated with the second viewpoint. And based on the determined corresponding features, the computing device may determine an output including a virtual representation of the environment that includes depth measurements indicative of distances to at least one object.

A robotic system is disclosed. The system includes a communication interface, and one or more processors coupled to the communication interface and configured to: generate based at least in part on the received data a plan to stack the items on or in the destination location. For each item, the generating the plan includes determining the destination location based at least in part on a characteristic associated with the item, and at least one of (i) a characteristic of a platform or receptacle on which one or more items are to be stacked, and (ii) an existing stack of one or more items on the platform or receptacle. The destination location is determined from among a plurality of zones in which platforms or receptacles are disposed, and each of the plurality of zones are within a range of a robotic arm. A robotic arm is controlled to implement the plan.

A system for processing pharmaceutical packaging includes an apparatus with a processing chamber and processing station. An insertion opening is formed in a wall of the apparatus. A transportable container includes an interior for receiving a pharmaceutical production element and a container opening that can be closed and opened via a closing element. The container is dockable to the apparatus. The production element is transferable from the interior into the processing chamber when the closing elements are open. A monitoring device, which includes at least one reading unit and at least one identification element, is arranged on or part of the production element. State information about the production element is stored on or in the identification element, for example in a memory member of the identification element. The state information is readable contactlessly by the reading unit. The system can be monitored by a monitoring method.

A system for processing pharmaceutical packaging includes an apparatus with a processing chamber and processing station. An insertion opening is formed in a wall of the apparatus. A transportable container includes an interior for receiving a pharmaceutical production element and a container opening that can be closed and opened via a closing element. The container is dockable to the apparatus. The production element is transferable from the interior into the processing chamber when the closing elements are open. A monitoring device, which includes at least one reading unit and at least one identification element, is arranged on or part of the production element. State information about the production element is stored on or in the identification element, for example in a memory member of the identification element. The state information is readable contactlessly by the reading unit. The system can be monitored by a monitoring method.