An unloading apparatus includes a holding apparatus configured to hold side peripheral surfaces of a holding target article group, which is an article subgroup in one level among a plurality of article subgroups in a plurality of levels which article subgroups are included in the stacked article group, in such a manner as to hold the holding target article group and an article subgroup above the holding target article group; a first transport apparatus configured to receive at least one article subgroup held by the holding apparatus from the holding apparatus, and transport the at least one received article subgroup; a retrieval apparatus configured to retrieve one or more articles from an article subgroup in an uppermost level in the stacked article group; and a second transport apparatus configured to transport the stacked article group from the retrieval apparatus to the holding apparatus.

A pharmaceutical container holder for holding pharmaceutical containers includes a receiver having an interior sized and shaped to receive and hold the pharmaceutical containers as a stack of pharmaceutical containers. The receiver has a removal location from which the pharmaceutical containers are removed from the receiver. A lift raises the pharmaceutical containers disposed in the interior of the receiver upward to move the pharmaceutical containers toward the removal location. A lift controller operates the lift to move the pharmaceutical containers upward toward the removal location after an upper-most pharmaceutical container of the stack of pharmaceutical containers has been removed from the removal location to move a subsequent upper-most pharmaceutical container of the stack of pharmaceutical containers to the removal location.

Methods, apparatuses, systems, computing devices, and/or the like are provided. An example method may include receiving, from a perception subsystem associated with an object depalletization system, first imaging data associated with a plurality of objects disposed on a pallet; calculate, based at least in part on the first imaging data, one or more comparative dimension measures associated with the plurality of objects; determine whether the one or more comparative dimension measures satisfy a comparative dimension threshold range; and in response to determining that the one or more comparative dimension measures satisfy the comparative dimension threshold range, cause an execution subsystem associated with the object depalletization system to operate in a constant pallet mode.

An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position outside the horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly inside the horizontal extent of the vehicle body.

An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position outside the horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly inside the horizontal extent of the vehicle body.

An automated robotic depalletizing system includes at least one robot for transferring inventory that arrives on a pallet to different storage locations within a warehouse. The robot may perform the automated depalletizing by moving to the pallet having a stacked arrangement of a plurality of objects, identifying, via a sensor, a topmost object of the plurality of objects, aligning a retriever with the topmost object, engaging the topmost object with the retriever, and transferring the topmost object from the pallet to the robot by actuating the retriever. The automated depalletizing may also be performed via coordinated operations of two or more robots. For instance, a first robot may retrieve objects from the pallet, and a second set of one or more robots may be used to transfer the retrieved objects into storage.

An automated robotic depalletizing system includes at least one robot for transferring inventory that arrives on a pallet to different storage locations within a warehouse. The robot may perform the automated depalletizing by moving to the pallet having a stacked arrangement of a plurality of objects, identifying, via a sensor, a topmost object of the plurality of objects, aligning a retriever with the topmost object, engaging the topmost object with the retriever, and transferring the topmost object from the pallet to the robot by actuating the retriever. The automated depalletizing may also be performed via coordinated operations of two or more robots. For instance, a first robot may retrieve objects from the pallet, and a second set of one or more robots may be used to transfer the retrieved objects into storage.

A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time.

A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time.

An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position beyond a horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly within the horizontal extent of the vehicle body and above the vehicle body.