I have found this solution please check following file which i have been updated.

vendor/magento/module-sales/Model/Order/Pdf/Invoice.php

    <?php

namespace Vendor\ModuleName\Sales\Model\Order\Pdf;

use Magento\Catalog\Model\ProductRepositoryFactory;
use Magento\Framework\App\Config\ScopeConfigInterface;
use Magento\Framework\DataObject;
use Magento\Framework\Filesystem;
use Magento\Framework\Locale\ResolverInterface;
use Magento\Framework\Stdlib\DateTime\TimezoneInterface;
use Magento\Framework\Stdlib\StringUtils;
use Magento\Framework\Translate\Inline\StateInterface;
use Magento\Payment\Helper\Data;
use Magento\Sales\Model\Order\Address\Renderer;
use Magento\Sales\Model\Order\Pdf\Config;
use Magento\Sales\Model\Order\Pdf\Invoice as InvoicePdf;
use Magento\Sales\Model\Order\Pdf\ItemsFactory;
use Magento\Sales\Model\Order\Pdf\Total\Factory;
use Magento\Store\Model\StoreManagerInterface;

class Invoice extends InvoicePdf
{
    /**
     * @var ProductRepositoryFactory
     */
    protected $productRepositoryFactory;
    protected $_logger;
    /**
     * Invoice constructor

     * @param Data $paymentData
     * @param StringUtils $string
     * @param ScopeConfigInterface $scopeConfig
     * @param Filesystem $filesystem
     * @param Config $pdfConfig
     * @param Factory $pdfTotalFactory
     * @param ItemsFactory $pdfItemsFactory
     * @param TimezoneInterface $localeDate
     * @param StateInterface $inlineTranslation
     * @param Renderer $addressRenderer
     * @param StoreManagerInterface $storeManager
     * @param ResolverInterface $localeResolver
     * @param ProductRepositoryFactory $productRepositoryFactory
     * @param array $data
     */
    public function __construct(
        Data $paymentData,
        StringUtils $string,
        ScopeConfigInterface $scopeConfig,
        Filesystem $filesystem,
        Config $pdfConfig,
        Factory $pdfTotalFactory,
        ItemsFactory $pdfItemsFactory,
        TimezoneInterface $localeDate,
        StateInterface $inlineTranslation,
        Renderer $addressRenderer,
        StoreManagerInterface $storeManager,
        ResolverInterface $localeResolver,
        ProductRepositoryFactory $productRepositoryFactory,
        \Psr\Log\LoggerInterface $logger, //log injection        
        array $data = []
    ) {
        parent::__construct(
            $paymentData,
            $string,
            $scopeConfig,
            $filesystem,
            $pdfConfig,
            $pdfTotalFactory,
            $pdfItemsFactory,
            $localeDate,
            $inlineTranslation,
            $addressRenderer,
            $storeManager,
            $localeResolver,        
            $data
        );
        $this->_logger = $logger;
        $this->productRepositoryFactory = $productRepositoryFactory;
    }

    /**
     * {@inheritdoc}
     *
     * Overridden in order to insert product image upon the order items rendering
     */
    public function getPdf($invoices = [])
    {
        $this->_logger->addInfo('getPdf sarfaraj');
        $this->_beforeGetPdf();
        $this->_initRenderer('invoice');

        $pdf = new \Zend_Pdf();
        $this->_setPdf($pdf);
        $style = new \Zend_Pdf_Style();
        $this->_setFontBold($style, 10);

        foreach ($invoices as $invoice) {
            if ($invoice->getStoreId()) {
                $this->_localeResolver->emulate($invoice->getStoreId());
                $this->_storeManager->setCurrentStore($invoice->getStoreId());
            }
            $page = $this->newPage();           
            $order = $invoice->getOrder();
            /* Add image */
            $this->insertLogo($page, $invoice->getStore());
            /* Add address */
            $this->insertAddress($page, $invoice->getStore());
            /* Add head */
            $this->insertOrder(
                $page,
                $order,
                $this->_scopeConfig->isSetFlag(
                    self::XML_PATH_SALES_PDF_INVOICE_PUT_ORDER_ID,
                    \Magento\Store\Model\ScopeInterface::SCOPE_STORE,
                    $order->getStoreId()
                )
            );
            /* Add document text and number */
            $this->insertDocumentNumber($page, __('Invoice # ') . $invoice->getIncrementId());
            /* Add table */
            $this->_drawHeader($page);
            /* Add body */
            foreach ($invoice->getAllItems() as $item) {
                if ($item->getOrderItem()->getParentItem()) {
                    continue;
                }
                /* Draw item */
                $this->_drawItem($item, $page, $order);

                /* Insert the product image. You can play with position here */
                $this->insertImage($item, 140, (int)($this->y-15), 205, (int)($this->y+35), $page);
                $page = end($pdf->pages);
            }
            /* Add totals */
            $this->insertTotals($page, $invoice);
            if ($invoice->getStoreId()) {
                $this->_localeResolver->revert();
            }
        }
        $this->_afterGetPdf();
        return $pdf;
    }

    /**
     * {@inheritdoc}
     *
     * Overridden in order to change the order details background
     */
    protected function insertOrder(&$page, $obj, $putOrderId = true)
    {
        $this->_logger->addInfo('insertOrder sarfaraj');
        if ($obj instanceof \Magento\Sales\Model\Order) {
            $shipment = null;
            $order = $obj;
        } elseif ($obj instanceof \Magento\Sales\Model\Order\Shipment) {
            $shipment = $obj;
            $order = $shipment->getOrder();
        }

        $this->y = $this->y ? $this->y : 815;
        $top = $this->y;

        $page->setFillColor(new \Zend_Pdf_Color_GrayScale(1)); // Keep white color for the table header
        $page->setLineColor(new \Zend_Pdf_Color_GrayScale(0.45));
        $page->drawRectangle(25, $top, 570, $top - 55);
        $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0)); // Make table header text white
        $this->setDocHeaderCoordinates([25, $top, 570, $top - 55]);
        $this->_setFontRegular($page, 10);

        if ($putOrderId) {
            $page->drawText(__('Order # ') . $order->getRealOrderId(), 35, $top -= 30, 'UTF-8');
        }
        $page->drawText(
            __('Order Date: ') .
            $this->_localeDate->formatDate(
                $this->_localeDate->scopeDate(
                    $order->getStore(),
                    $order->getCreatedAt(),
                    true
                ),
                \IntlDateFormatter::MEDIUM,
                false
            ),
            35,
            $top -= 15,
            'UTF-8'
        );

        $top -= 10;
        $page->setFillColor(new \Zend_Pdf_Color_Rgb(0.93, 0.92, 0.92));
        $page->setLineColor(new \Zend_Pdf_Color_GrayScale(0.5));
        $page->setLineWidth(0.5);
        $page->drawRectangle(25, $top, 275, $top - 25);
        $page->drawRectangle(275, $top, 570, $top - 25);

        /* Calculate blocks info */

        /* Billing Address */
        $billingAddress = $this->_formatAddress($this->addressRenderer->format($order->getBillingAddress(), 'pdf'));

        /* Payment */
        $paymentInfo = $this->_paymentData->getInfoBlock($order->getPayment())->setIsSecureMode(true)->toPdf();
        $paymentInfo = htmlspecialchars_decode($paymentInfo, ENT_QUOTES);
        $payment = explode('{{pdf_row_separator}}', $paymentInfo);
        foreach ($payment as $key => $value) {
            if (strip_tags(trim($value)) == '') {
                unset($payment[$key]);
            }
        }
        reset($payment);

        /* Shipping Address and Method */
        if (!$order->getIsVirtual()) {
            /* Shipping Address */
            $shippingAddress = $this->_formatAddress($this->addressRenderer->format($order->getShippingAddress(), 'pdf'));
            $shippingMethod = $order->getShippingDescription();
        }

        $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0));
        $this->_setFontBold($page, 12);
        $page->drawText(__('Sold to: '), 35, $top - 15, 'UTF-8');

        if (!$order->getIsVirtual()) {
            $page->drawText(__('Ship to: '), 285, $top - 15, 'UTF-8');
        } else {
            $page->drawText(__('Payment Method:'), 285, $top - 15, 'UTF-8');
        }

        $addressesHeight = $this->_calcAddressHeight($billingAddress);
        if (isset($shippingAddress)) {
            $addressesHeight = max($addressesHeight, $this->_calcAddressHeight($shippingAddress));
        }

        $page->setFillColor(new \Zend_Pdf_Color_GrayScale(1));
        $page->drawRectangle(25, $top - 25, 570, $top - 33 - $addressesHeight);
        $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0));
        $this->_setFontRegular($page, 10);
        $this->y = $top - 40;
        $addressesStartY = $this->y;

        foreach ($billingAddress as $value) {
            if ($value !== '') {
                $text = [];
                foreach ($this->string->split($value, 45, true, true) as $_value) {
                    $text[] = $_value;
                }
                foreach ($text as $part) {
                    $page->drawText(strip_tags(ltrim($part)), 35, $this->y, 'UTF-8');
                    $this->y -= 15;
                }
            }
        }

        $addressesEndY = $this->y;

        if (!$order->getIsVirtual()) {
            $this->y = $addressesStartY;
            foreach ($shippingAddress as $value) {
                if ($value !== '') {
                    $text = [];
                    foreach ($this->string->split($value, 45, true, true) as $_value) {
                        $text[] = $_value;
                    }
                    foreach ($text as $part) {
                        $page->drawText(strip_tags(ltrim($part)), 285, $this->y, 'UTF-8');
                        $this->y -= 15;
                    }
                }
            }

            $addressesEndY = min($addressesEndY, $this->y);
            $this->y = $addressesEndY;

            $page->setFillColor(new \Zend_Pdf_Color_Rgb(0.93, 0.92, 0.92));
            $page->setLineWidth(0.5);
            $page->drawRectangle(25, $this->y, 275, $this->y - 25);
            $page->drawRectangle(275, $this->y, 570, $this->y - 25);

            $this->y -= 15;
            $this->_setFontBold($page, 12);
            $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0));
            $page->drawText(__('Payment Method'), 35, $this->y, 'UTF-8');
            $page->drawText(__('Shipping Method:'), 285, $this->y, 'UTF-8');

            $this->y -= 10;
            $page->setFillColor(new \Zend_Pdf_Color_GrayScale(1));

            $this->_setFontRegular($page, 10);
            $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0));

            $paymentLeft = 35;
            $yPayments = $this->y - 15;
        } else {
            $yPayments = $addressesStartY;
            $paymentLeft = 285;
        }

        foreach ($payment as $value) {
            if (trim($value) != '') {
                //Printing "Payment Method" lines
                $value = preg_replace('/<br[^>]*>/i', "\n", $value);
                foreach ($this->string->split($value, 45, true, true) as $_value) {
                    $page->drawText(strip_tags(trim($_value)), $paymentLeft, $yPayments, 'UTF-8');
                    $yPayments -= 15;
                }
            }
        }

        if ($order->getIsVirtual()) {
            // replacement of Shipments-Payments rectangle block
            $yPayments = min($addressesEndY, $yPayments);
            $page->drawLine(25, $top - 25, 25, $yPayments);
            $page->drawLine(570, $top - 25, 570, $yPayments);
            $page->drawLine(25, $yPayments, 570, $yPayments);

            $this->y = $yPayments - 15;
        } else {
            $topMargin = 15;
            $methodStartY = $this->y;
            $this->y -= 15;

            foreach ($this->string->split($shippingMethod, 45, true, true) as $_value) {
                $page->drawText(strip_tags(trim($_value)), 285, $this->y, 'UTF-8');
                $this->y -= 15;
            }

            $yShipments = $this->y;
            $totalShippingChargesText = "(" . __(
                    'Total Shipping Charges '
                ) . " " . $order->formatPriceTxt(
                    $order->getShippingAmount()
                ) . ")";

            //$page->drawText($totalShippingChargesText, 285, $yShipments - $topMargin, 'UTF-8');
            $yShipments -= $topMargin + 10;

            $tracks = [];
            if ($shipment) {
                $tracks = $shipment->getAllTracks();
            }
            if (count($tracks)) {
                $page->setFillColor(new \Zend_Pdf_Color_Rgb(0.93, 0.92, 0.92));
                $page->setLineWidth(0.5);
                $page->drawRectangle(285, $yShipments, 510, $yShipments - 10);
                $page->drawLine(400, $yShipments, 400, $yShipments - 10);
                //$page->drawLine(510, $yShipments, 510, $yShipments - 10);

                $this->_setFontRegular($page, 9);
                $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0));
                //$page->drawText(__('Carrier'), 290, $yShipments - 7 , 'UTF-8');
                $page->drawText(__('Title'), 290, $yShipments - 7, 'UTF-8');
                $page->drawText(__('Number'), 410, $yShipments - 7, 'UTF-8');

                $yShipments -= 20;
                $this->_setFontRegular($page, 8);
                foreach ($tracks as $track) {
                    $maxTitleLen = 45;
                    $endOfTitle = strlen($track->getTitle()) > $maxTitleLen ? '...' : '';
                    $truncatedTitle = substr($track->getTitle(), 0, $maxTitleLen) . $endOfTitle;
                    $page->drawText($truncatedTitle, 292, $yShipments, 'UTF-8');
                    $page->drawText($track->getNumber(), 410, $yShipments, 'UTF-8');
                    $yShipments -= $topMargin - 5;
                }
            } else {
                $yShipments -= $topMargin - 5;
            }

            $currentY = min($yPayments, $yShipments);

            // replacement of Shipments-Payments rectangle block
            $page->drawLine(25, $methodStartY, 25, $currentY);
            //left
            $page->drawLine(25, $currentY, 570, $currentY);
            //bottom
            $page->drawLine(570, $currentY, 570, $methodStartY);
            //right

            $this->y = $currentY;
            $this->y -= 15;
        }
    }

    /**
     * {@inheritdoc}
     *
     * Overridden in order to change the invoice ID text color
     */
    public function insertDocumentNumber(\Zend_Pdf_Page $page, $text)
    {
        $page->setFillColor(new \Zend_Pdf_Color_GrayScale(0)); // Make table header text white
        $this->_setFontRegular($page, 10);
        $docHeader = $this->getDocHeaderCoordinates();
        $page->drawText($text, 35, $docHeader[1] - 15, 'UTF-8');
    }

    /**
     * Draws the product image using the specified coordinates
     *
     * @param DataObject $item
     * @param int $x1
     * @param int $y1
     * @param int $x2
     * @param int $y2
     * @param \Zend_Pdf_Page &$page
     * @return bool
     */
    protected function insertImage($item, $x1, $y1, $x2, $y2, \Zend_Pdf_Page &$page)
    {
        try{
            $product = $this->productRepositoryFactory->create()->getById($item->getProductId());
            $productImage = '/catalog/product' . $product->getData('thumbnail');
            $pdfImage = \Zend_Pdf_Image::imageWithPath($this->_mediaDirectory->getAbsolutePath($productImage));

            //Draw image to PDF
            $page->drawImage($pdfImage, $x1, $y1, $x2, $y2);
        }
        catch (\Exception $e) {
            return false;
        }
    }
    
    
    protected function insertLogo(&$page, $store = null)
    {
        $this->y = $this->y ? $this->y : 815;
        $image = $this->_scopeConfig->getValue(
            'sales/identity/logo',
            \Magento\Store\Model\ScopeInterface::SCOPE_STORE,
            $store
        );
        if ($image) {
            $imagePath = '/sales/store/logo/' . $image;
            if ($this->_mediaDirectory->isFile($imagePath)) {
                $image = \Zend_Pdf_Image::imageWithPath($this->_mediaDirectory->getAbsolutePath($imagePath));
                $top = 830;
                //top border of the page
                $widthLimit = 270;
                //half of the page width
                $heightLimit = 270;
                //assuming the image is not a "skyscraper"
                $width = $image->getPixelWidth();
                $height = $image->getPixelHeight();

                //preserving aspect ratio (proportions)
                $ratio = $width / $height;
                if ($ratio > 1 && $width > $widthLimit) {
                    $width = $widthLimit;
                    $height = $width / $ratio;
                } elseif ($ratio < 1 && $height > $heightLimit) {
                    $height = $heightLimit;
                    $width = $height * $ratio;
                } elseif ($ratio == 1 && $height > $heightLimit) {
                    $height = $heightLimit;
                    $width = $widthLimit;
                }

                $y1 = $top - $height;
                $y2 = $top;
                $x1 = 158;
                $x2 = $x1 + $width;

                //coordinates after transformation are rounded by Zend
                $page->drawImage($image, $x1, $y1, $x2, $y2);

                $this->y = $y1 - 10;
            }
        }
    }
    
    /**
     * Create new page and assign to PDF object
     *
     * @param  array $settings
     * @return \Zend_Pdf_Page
     */
    public function newPage(array $settings = [])
    {
        /* Add new table head */
        $page = $this->_getPdf()->newPage(\Zend_Pdf_Page::SIZE_A4);
        $this->_getPdf()->pages[] = $page;
        $this->y = 800;
        if (!empty($settings['table_header'])) {
            $this->_drawHeader($page);
        }
        return $page;
    }

}

In this file i have added AbstractPdf.php file insertOrder() method and modify changes so now it is working for me.

Thanks.