A robotic singulation system is disclosed. In various embodiments, sensor data including data associated with an item present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to move and place the item singly in a corresponding location in a singulation conveyance structure. The plan takes into consideration an attribute of the item determined based at least in part on the sensor data.

A device for replacing a pallet carrying a load includes first and second store elements (3, 7); an entrance element (11) between the first and second store elements; and a translating element (17) provided with a first seating (19) in the first store element and a second seating (21) in the entrance element for respectively receiving a replacement pallet and an original pallet wherein such translating element (17) is moved parallelly to itself between a first extreme condition (I) in which the first seating (19) and the second seating (21) are respectively placed in correspondence with the base (5) of the first store element (3) and with the base (6) of the entrance element (11) and a second extreme condition (F) in which the first (19) and second (21) seatings are respectively placed over the bases (6, 9) of the entrance element (11) and the second store element (7).

Various embodiments are directed to methods, apparatuses, systems, computing devices, computing entities, and the like for robotically depalletizing objects. In various embodiments, a controller-implemented method for robotic depalletization may comprise detecting a first object of a plurality of palletized objects arranged in a plurality of pallet layers, the first object defining at least a portion of a top pallet layer; identifying an initial pallet height defined by the first object; identifying a second pallet height defined by a second object of the plurality of palletized objects; detecting a pallet height difference based at least in part on the second pallet height; and determining that the top pallet layer has been depalletized based at least in part on a comparison of the pallet height difference to a threshold pallet layer height.

A pallet tower for high-density pallet storage which provides for loading and unloading of pallets from a pallet storage area via mechanical operation. The pallet tower has a base frame defining a pallet receiving area, the pallet receiving area for receiving a pallet: a containment frame attached to a support latch frame and/or the base frame, the containment frame defining a pallet storage area for storing the pallet; and a support latch frame attached to the base frame, the support latch frame having a support latch operable between an open configuration and a closed configuration, and the support latch in the closed configuration for supporting the pallet when the pallet is in the pallet storage area.

A pallet tower for high-density pallet storage which provides for loading and unloading of pallets from a pallet storage area via mechanical operation. The pallet tower has a base frame defining a pallet receiving area, the pallet receiving area for receiving a pallet: a containment frame attached to a support latch frame and/or the base frame, the containment frame defining a pallet storage area for storing the pallet; and a support latch frame attached to the base frame, the support latch frame having a support latch operable between an open configuration and a closed configuration, and the support latch in the closed configuration for supporting the pallet when the pallet is in the pallet storage area.

A pallet tower for high-density pallet storage which provides for loading and unloading of pallets from a pallet storage area via mechanical operation. The pallet tower has a base frame defining a pallet receiving area, the pallet receiving area for receiving a pallet; a containment frame attached to a support latch frame and/or the base frame, the containment frame defining a pallet storage area for storing the pallet; and a support latch frame attached to the base frame, the support latch frame having a support latch operable between an open position and a closed configuration, and the support latch in the closed configuration for supporting the pallet when the pallet is in the pallet storage area.

A pallet tower for high-density pallet storage which provides for loading and unloading of pallets from a pallet storage area via mechanical operation. The pallet tower has a base frame defining a pallet receiving area, the pallet receiving area for receiving a pallet; a containment frame attached to a support latch frame and/or the base frame, the containment frame defining a pallet storage area for storing the pallet; and a support latch frame attached to the base frame, the support latch frame having a support latch operable between an open position and a closed configuration, and the support latch in the closed configuration for supporting the pallet when the pallet is in the pallet storage area.

A layer destacking system for destacking layer from stacked layer pallet load, including layer seating platform configured to seat the destacked layer on layer seating platform, conveying surface with conveyance traverse direction traverses the seated destacked layer off layer seating platform, slip sheet detection sensor coupled to layer seating platform and arranged to sense slip sheet in contact with seated destacked layer on uppermost surface and bottom surface of seated destacked layer, slip sheet pickup removal mechanism extending over layer seating platform configured to engage, above layer seating platform, slip sheet contacting one uppermost surface and bottom surface of seated destacked layer controller communicably coupled to slip sheet detection sensor to receive signal from slip sheet detection sensor identifying presence of slip sheet, controller is operably connected to slip sheet pickup removal mechanism to actuate slip sheet pickup removal mechanism engaging slip sheet contacting one uppermost surface and bottom surface.

An end effector includes a base, a first leg, a second leg, a first arm, and a second arm. The first leg is connected to the base. The second leg is connected to the base and is offset from the first leg. The first arm is pivotably connected to the first leg. The second arm is pivotably connected to the second leg. The first leg and the first arm are configured to releasably hold a first portion of a dunnage unit. The second leg and the second arm are configured to releasably hold a second portion of the dunnage unit.