Abstract: Disclosed aspects relate to a conveyance system and method for conveying a plurality of object carriers. The conveyance system comprises at least one first conveyor lane section, and at least, two second conveyor lane sections. The conveyance system further comprises a rotatable diverting element for diverting an object carrier of the plurality of object carriers between the at least one first conveyor lane section and one of the at least two second conveyor lane sections of the conveyance system.

Abstract: Disclosed aspects relate to a conveyance system and method for conveying a plurality of object carriers. The conveyance system comprises at least one first conveyor lane section, and at least two second conveyor lane sections. The conveyance system further comprises a rotatable diverting element for diverting an object carrier of the plurality of object carriers between the at least one first conveyor lane section and one of the at least two second conveyor lane sections of the conveyance system. The diverting element comprises at least one sensor element for detecting the object carrier when the object carrier is: being conveyed toward the diverting element, or contacting the diverting element, or being transported away from the diverting element by the conveyance system, The conveyance system further comprises an axis of rotation adjacent to the first conveyor lane section and one of the second conveyor lane sections.

Abstract: A camera-based auto-alignment process can include gripping a first calibration tool by a gripper unit of a robotic arm. Images of the first calibration tool can be captured by a camera coupled to the gripper unit. The gripper unit and camera unit can be aligned on two roughly parallel axes. The images can be analyzed to calibrate the axis of view of the camera with the gripper axis, providing an XY calibration of the robotic arm. The gripper unit can be calibrated on a Z-axis using optical calibration with landmarks provided on a second calibration tool, and/or by moving the gripper unit towards the work surface until it makes contact with the work surface and stops. Once calibrated, the camera can be used to identify one or more landmarks at known locations on the work surface to align the robotic arm with the work surface.