Intelligent robotized depalletizer

A layer destacking system for destacking a layer from a stacked layer pallet load, the layer destacking system comprising:

• a layer seating platform configured so as to seat the destacked layer on the layer seating platform, and having a conveying surface with a conveyance traverse direction that traverses the seated destacked layer off the layer seating platform;
• a slip sheet detection sensor coupled to the layer seating platform and arranged to sense a slip sheet in contact with the seated destacked layer on at least one of an uppermost surface and a bottom surface of the seated destacked layer;
• a slip sheet pickup removal mechanism extending at least in part over the layer seating platform and configured so as to engage, above the layer seating platform, the slip sheet contacting the at least one of the uppermost surface and the bottom surface of the seated destacked layer;
• and
• a controller communicably coupled to the slip sheet detection sensor;
• wherein:
• the slip sheet detection sensor includes a height sensor configured to measure a height between a surface of the seated destacked layer and a predetermined datum and send height measure data embodying the height measure to the controller, and the slip sheet detection sensor includes a distance sensor configured to measure a distance in which the height sensor registers the height measure and send the controller distance measure data embodying the distance measure, and
• the controller is configured to merge the height measure data and distance measure data forming a two-dimensional depth map characterizing the at least one of the uppermost surface and the bottom surface of the seated destacked layer.