Layer destacking system and method for destacking a layer from a stacked layer pallet load

Abstract

A destacking system for unstacking layers loaded from stacked pallets includes a stack placement platform configured to facilitate the placement of the unstacking layer on the platform; a slider detection sensor configured to sense a slider in contact with the placed unstacking layer; a slider pick-up and removal mechanism; and a controller that receives a signal from the slider detection sensor indicating the presence of a slider. The controller is operatively connected to the slider pick-up and removal mechanism to actuate the mechanism, causing the slider to be ejected from the stack placement platform.

Description

Technical Field

[0001] The disclosed embodiments generally relate to unloading, and more specifically to slip detection and removal. [] [Cross-reference to related applications] []

[0002] This application is a non-provisional application of U.S. Provisional Patent Application No. 63 / 270,765, filed on October 22, 2021, and claims the benefits of that application, the disclosure of which is incorporated herein by reference in its entirety. Prior Technology

[0003] []

[0004] Retail distribution of products (whether in traditional "brick-and-mortar" stores, online stores, or hybrid retail channels) demands improvements in storage, sorting, and delivery efficiency, especially for the distribution of so-called mixed-case or heterogeneous cases (within a given delivery range), whether for store replenishment or individual orders. Consequently, the application of intelligent / adaptive automation is increasingly driving improvements in efficiency across many distribution levels, including storage, sorting, and delivery.

[0005] Distribution centers and warehouses typically support their products, such as boxes, cartons, open pallets, stretch-pack pallets, etc., on structured pallets, arranged in an orderly manner without gaps between them. Generally, slip sheets (sheets of material the size of a pallet) are placed between the layers of the pallet to substantially improve the stability of the pallet load compared to a pallet load without slip sheets. Depalletizing systems for removing products from pallets are known in this art. In some cases, the slip sheets are removed along with the pallet layer, while in others, the slip sheets remain on the pallet after the layer is picked up. Summary of the Invention

[0006] A stack unstacking system for unstacking layers of pallets loaded from stacked pallets, the stack unstacking system comprising: A stacking platform is constructed to facilitate the placement of unloaded stacks on the platform and has a conveying surface with a lateral conveying direction for laterally moving the placed unloaded stacks away from the stacking platform. A slider detection sensor is coupled to the layer placement platform and configured to sense a slider in contact with the placed destashed layer on at least one of the uppermost and bottom surfaces of the placed destashed layer; A sliding plate pickup and removal mechanism extends at least partially above the layer placement platform and is configured to facilitate engagement of a sliding plate with at least one of the uppermost and bottom surfaces of the placed, unloaded stack above the layer placement platform; and A controller communicatively coupled to the slider detection sensor is configured to receive a signal from the slider detection sensor that identifies the presence of the slider, and the controller is configured to determine, based on the received signal, the slider that contacts at least one of the uppermost and bottom surfaces of the disposed unloaded stack. The controller is operably connected to the slide pick-up and removal mechanism to actuate the slide pick-up and removal mechanism, which engages with at least one of the slides on the uppermost and bottom surfaces, and lifts the slide, causing the slide to be discharged from the layer placement platform. Simple Explanation of the Diagram

[0007] []

[0008] The prior art and other features of the disclosed embodiments are explained in the following description taken in conjunction with the accompanying drawings, wherein:

[0009] [Figure 1] is a schematic diagram of various types of warehouse systems according to the disclosed embodiments;

[0010] [Figure 2] is a schematic diagram of the load on the pallet according to various embodiments disclosed;

[0011] [Figure 3] is a schematic perspective view of the bottom slide removal system of the warehouse system of Figure 1 according to various embodiments disclosed;

[0012] [Figure 4A] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0013] [Figure 4B] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0014] [Figure 5A] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0015] [Figure 5B] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0016] [Figure 5C] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0017] [Figure 6] is a schematic plan view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0018] [Figure 7] is a schematic plan view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0019] [Figure 8] is a schematic front view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0020] [Figure 9] is a schematic front view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0021] [Figure 10] is a schematic front view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0022] [Figure 11] is a schematic front view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0023] [Figure 12] is a schematic front view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0024] [Figure 13] is a schematic front view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0025] [Figure 14A] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0026] [Figure 14B] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0027] [Figure 15A] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0028] [Figure 15B] is a schematic perspective view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0029] [Figure 16A] is a schematic plan view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0030] [Figure 16B] is a schematic plan view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0031] [Figure 17A] is a schematic plan view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0032] [Figure 17B] is a schematic plan view of a portion of the bottom slide removal system of Figure 3 according to various embodiments disclosed;

[0033] [Figures 18A-18C] are schematic drawings of exemplary sensor signals of the bottom slider removal system of Figure 3 according to various embodiments disclosed;

[0034] [Figures 18D-18F] are schematic drawings illustrating the sensor signals of the bottom slider removal system of Figure 3 according to various embodiments disclosed;

[0035] [Figure 19] is an exemplary flowchart of a method for using the bottom slide removal system of Figure 3 according to various embodiments disclosed; and

[0036] [Figure 20] is an exemplary flowchart of the method according to various embodiments disclosed. Implementation

[0037] []

[0038] Figure 1 is a schematic diagram of a warehouse system or distribution facility 100WS (referred to herein as warehouse system 100WS) according to various embodiments disclosed. Although various embodiments of the disclosed embodiments will be described with reference to the accompanying drawings, it should be understood that various embodiments of the disclosed embodiments can be embodied in many forms. Furthermore, any suitable size, shape, or type of element or material can be used. It should be understood that although warehouse system 100WS is described herein as an automated warehouse system, various embodiments of the disclosed embodiments are also suitable for distribution facilities having any suitable transport system, such as automated and manual transport systems or fully manual transport systems.

[0039] Referring to Figures 1, 2, and 3, the disclosed embodiments provide an automatically introduced bottom slide detection and removal system 300 (also referred to herein as a slide removal system for convenience). The slide removal system 300 is configured to receive pallet layers from the unloading pallet unit 10 of the warehouse system 100WS. The slide removal system 300 includes a smart detection system (as described herein) configured to detect the presence of slides 277 (see Figures 2, 16A, and 16B) located at least below pallet layers PL1-PL5 (each pallet layer PL1-PL5 is generally referred to as pallet layer PL). Based on the detection of the presence of slides 277, the slide removal system 300 is configured to move pallet layer PL away from slides 277 and remove slides 277 from the slide removal system 300. Therefore, when the presence of a slide is detected, at least some components of the slide removal system 300 that removes the slide are deactivated in other ways when the absence of the slide is detected, so that the feeding of subsequent pallet layers along the conveyor of the slide removal system is not hindered by any removal of the detected slide. According to various embodiments disclosed, the slide removal system 300 can reduce operating costs and increase its service life because the slide removal components are actuated when a slide is detected and otherwise deactivated. The slide removal system 300 also provides a compact footprint, allowing it to be integrated with conveyor systems having commercially available conveyor sections. The slide removal system 300 also provides for the removal of the slide 277, enabling substantially stable / continuous conveying of pallet layers / boxes through the slide removal system 300.

[0040] Referring to Figures 1 and 2, according to various embodiments disclosed, the warehouse system 100WS includes at least one palletizer / unloading unit 10A, 10B (generally referred to herein as palletizer unit 10). Palletizer unit 10 has one or more automated box manipulators 14 (also referred to herein as articulated robotic arms, adaptive real-time robotic arms, robotic arms, or product picking devices), which, with the assistance of a vision system, places (individually or on the manufactured picking surface) hybrid palletized item units CU (also referred to herein as box units or boxes or products 18) in stacks SL1-Sn and / or layers PL1-PL4 to establish a hybrid box-palletized load PAL. Suitable examples of palletizers / palletizers are described in U.S. Patent No. 10,343,857, entitled "Vision-Assisted Automated Pallet Unloader," filed July 9, 2019, and U.S. Patent Application No. 17 / 070,753, entitled "Vision-Assisted Automated Pallet Unloader," filed October 14, 2020, the disclosures of which are incorporated herein by reference in their entirety.

[0041] Referring again to Figure 1, according to various embodiments disclosed, the warehouse system 100WS includes a storage and retrieval system 100 operable in a retail distribution center or warehouse to, for example, fulfill orders for box units received from retail stores. In one example, a box unit may be a box or unit of goods not stored on a pallet, on a transport box, or on a pallet (e.g., uncontained). In other examples, a box unit may be a box or unit of goods contained in any suitable manner, such as on a pallet, on a transport box, or on a pallet. It is noteworthy that a box unit may include a packing unit of goods (e.g., a box of soup cans, a box of cereal, etc.) or an individual item suitable for removal from or placement on a pallet. According to these embodiments, shipping boxes for the box units (e.g., cartons, barrels, boxes, crates, containers, or any other suitable means for securing the box units) may have different sizes and may be used to secure the box units during shipment, and may be constructed such that they can be palletized for shipment. It is noteworthy that when bundles or pallets of, for example, box units arrive at the storage and retrieval system, the contents of each pallet can be uniform (e.g., each pallet holds a predetermined number of the same items—one pallet holds soup, and another holds grains), while when the pallet leaves the storage and retrieval system, it can contain any appropriate number and combination of different box units (e.g., each pallet can hold different types of box units—one pallet holds a combination of soup and grains). In these embodiments, the storage and retrieval system described herein can be applied to any environment for storing and retrieving box units.

[0042] The storage and retrieval system 100 can be configured for installation in, for example, existing warehouse structures, or adapted to new warehouse structures. In the disclosed embodiments, the storage and retrieval system may include one or more infeed conveyor stations 170 and one or more outfeed conveyor stations 160, infeed / outfeed box conveyors 150A, 150B, 150C (generally referred to as infeed / outfeed box conveyor 150), a storage structure array 130, and several autonomous vehicle transport robotic arms 110 (referred to herein as “bots”). In the disclosed embodiments, the storage and retrieval system may also include robotic arms or robotic transport stations, as described in U.S. Patent No. 9,096,375, issued August 4, 2015, the disclosure of which is incorporated herein by reference in its entirety. In one of the disclosed embodiments, a robotic transfer station can provide an interface between the robot 110 and the in / out box conveyor 150, allowing box units to be indirectly transferred between the robot 110 and the in / out box conveyor 150 via the robotic transfer station. In another of the disclosed embodiments, box units can be directly transferred between the robot 110 and the in / out box conveyor 150.

[0043] Storage structure array 130 may include multiple layers of storage rack modules forming a storage array for storage locations 130SL of box units, each storage location 130SL being configured to store at least one box unit. In one embodiment, each layer of storage structure array 130 includes a respective storage / pickup aisle 130A and a transfer platform 130B for transferring box units between any storage area of ​​storage structure array 130 and any rack of any in / out box conveyor 150. Storage aisles 130A and transfer platforms 130B are also configured to allow a robot 110 to traverse storage aisles 130A and transfer platforms 130B to place box units into pick-up inventory and retrieve ordered box units, where the box units are stored or otherwise held in storage aisles 130A and / or on transfer platforms 130B in storage locations 130SL. Robot 110 can be any suitable robot capable of carrying and transporting box units throughout the storage and retrieval system 100. For illustrative purposes only, examples of suitable robots can be found in U.S. Patent No. 8,425,173, published April 23, 2013; U.S. Patent No. 9,561,905, published February 7, 2017; U.S. Patent No. 8,965,619, published February 24, 2015; U.S. Patent No. 8,696,010, published April 15, 2014; U.S. Patent No. 9,187,244, published November 17, 2015; U.S. Pre-Principal Publication No. 2012 / 0189416 (U.S. Serial No. 13 / 326,952), entitled "Automated Robot with Conveyor Arm," filed December 15, 2011; and U.S. Patent No. 9,499,338, published November 22, 2016, the disclosures of which are incorporated herein by reference in their entirety. Robot 110 can be configured to pick up inventory by placing box units, such as the aforementioned retail goods, into one or more layers of the storage structure array 130, and then selectively retrieve ordered box units for shipment to, for example, a storage location or another suitable location.

[0044] Feeding station 170 and discharging station 160 can operate together with their respective in / out box conveyors 150A and 150B to bidirectionally convey box units to and from one or more levels of the storage structure array 130, thereby implementing the feeding of box units to and outputting box units from the storage structure array 130. It is worth noting that although feeding station 170 and discharging station 160 (and their respective in / out box conveyors 150A and 150B and palletizer / unloading unit 10A and 10B) are described as dedicated inlet (e.g., feeding) conveyor station 170 and dedicated outlet (e.g., discharging) conveyor station 160, in the disclosed embodiments, each conveyor station 170, 160 can be used for both inlet and outlet conveying of box units from the storage and retrieval system. It is worth noting that although inbound / outbound box conveyors are described herein, the conveyor may be any suitable conveyor (including any suitable transport path orientation, such as vertical and / or horizontal transport paths) or a conveying / pickup device with any suitable transport path orientation.

[0045] In one embodiment, as described above, each of the infeed conveyor station 170 and the outfeed conveyor station 160 includes a respective infeed / outfeed box conveyor 150A, 150B (at least one of which includes a slide removal system 300) and a respective palletizer / unloading unit 10A, 10B (generally referred to herein as palletizer unit 10). In one embodiment, the palletizer / unloading unit 10 is an automation unit, each automation unit being configured to receive loaded pallets (such as those with uniform or mixed box units or products) in a region 175, which may include, for example, an infeed / outfeed pallet conveyor 175C (illustrated as an input conveyor in FIG. 1), and / or to build loaded pallets (such as those with uniform or mixed box units or products) for transport to a pallet unloading region 180, which may include, for example, an infeed / outfeed pallet conveyor 180C (illustrated as an output conveyor in FIG. 1). In one embodiment, conveyors 175C and 180C are each connected to the storage structure array 130 and configured to bidirectionally transport loaded pallets in the input direction toward the storage structure array 130 and in different output directions away from the storage structure array 130. In one embodiment, conveyors 175C and 180C may each include a conveyor configuration with distributed conveyor beds configured to form a conveying path, or in other embodiments, conveyors 175C and 180C may be discrete conveying units, such as forklifts / pallet trucks. Suitable embodiments of automated palletizer / unloading units 10A and 10B can be found in U.S. Patent Application No. 15 / 235,254, filed August 12, 2016, and U.S. Patent No. 8,965,559, published February 24, 2015, the disclosures of which are incorporated herein by reference in their entirety. Each palletizer unit includes one or more automated box manipulators 14, which may also be referred to as articulated robotic arms or robotic arms. As described herein, one or more automated box manipulators 14 are configured to transport and place pallet-loaded item units CU in series onto pallet supports in order to establish (or, in other configurations described herein, disassemble or decommission) pallet loads 250 at pallet unloading / loading station 301 (see Figure 3).

[0046] At the palletizer unit 10, which acts as an output palletizer, palletized item units CU of various sizes arrive at the palletizer unit 10 via the in / out box conveyor 150B, and are picked up and placed on the palletized load PAL by one of the automated box manipulators 14, as will be described herein. At the palletizer unit 10, which acts as an output palletizer, the entire palletized load PAL (see Figure 2) composed of various box units is ready to be picked up from the palletizer unit 10 by a forklift for transport to the pallet unloading area 180. Where the palletizer / unloading unit 10 acts as an unloading machine, the entire pallet load (which may be similar to a pallet load PAL and formed by homogeneous or mixed boxes) of boxes arranged on the pallet load layer, consisting of various palletized item units CU, is transferred from the pallet load in area 175 to the pallet unloading / loading station 301 of the palletizer unit 10 in any suitable manner, such as by means of a forklift or another conveying tool. Each pallet load layer PL1, PL2, PL3, PL4, PL5 is formed by more than one box CU, which are arranged side by side above one area of ​​the pallet load PAL at a common level. In one configuration, as illustrated in FIG2, the pallet layer may be a mixed pallet layer, which includes boxes CU of different sizes; while in other configurations, as illustrated in FIG3, the pallet layer may be a uniform layer, which includes boxes CU of substantially the same size throughout the pallet layer. One or more automated box manipulators 14 pick up pallet-loaded items from pallet PAL units CU for conveying them into storage structure array 130.

[0047] In one configuration, each feeder station 170 forms a box input path Ip, where the palletizer / unloading unit 10A unloads box units layer by layer from pallets, or in another manner unloads box units from standard pallets (e.g., homogeneous pallets with stability suitable for automatic engagement of pallet layers by automated layer interface units, such as product picking devices or robotic arms 14) into individual box units. The palletizer / unloading unit 10A is connected to the transport system of the automated storage and retrieval system 100, such as the in / out box conveyor 150A, to form an integrated input system (e.g., feeder station 170) that feeds box units to the automated storage and retrieval system 100. Each feeder station 170 defines a box input path Ip integrated with the automated storage and retrieval system 100 and the warehouse management system 199, where the warehouse management system 199 includes any suitable controller 199C and memory constructed with any suitable non-transient code to manage at least the box unit input to the storage structure array 130, the box unit storage distribution within the storage structure array 130, and the box units that can be retrieved from the storage structure array 130, box unit inventory / replenishment, and box unit output.

[0048] In one state, each box unit input path Ip includes at least one corresponding box unit inspection unit 142 connected to the warehouse management system 199. In one state, the at least one corresponding box unit inspection unit 142 can be any suitable inspection unit, including any suitable volumetric inspection, such as having a multi-dimensional light curtain, an imaging system and / or any other suitable sensing / sensor configuration, configured to detect box unit defects and identify box units for, for example, inventory, shipping sorting, storage allocation and sorting of box units output from the self-storage structure array 130.

[0049] In one embodiment, as described above, the palletizer / unloading unit 10A can be fully automated to decompose or decommission layers(s) of pallets unloaded from the palletizer / unloading unit 10A. It is noteworthy that, referring to Figure 2, the term "decommissioning" means the removal (in whole or in part) of pallet layers PL1, PL2, PL3, PL4 from the pallet PAL, such that each pallet-loaded item unit CU is removed from layers PL1, PL2, PL3, PL4 at a predetermined level 200 of the pallet PAL (which may correspond to a decommissioning / activation level or a transfer plane). Thus, in some embodiments, the pallet PAL (by any suitable pallet lifting device of the palletizer unit 10) is indexed to the next level of the pallet PAL for (in whole or in part) removal of the next level PL2, PL3 corresponding to the next level below the pallet PAL.

[0050] In one embodiment, the palletizer / unloading unit 10A is configured to decommission layers PL1, PL2, PL3, and PL4, such decommissioning is synchronized or otherwise coordinated by the warehouse management system 199 (matched thereto) at a predetermined rate of flow or feeding rate of the box units, and is established within the automated storage and retrieval system 100 by the warehouse management system 199. For example, in one embodiment, the warehouse management system 199 is configured to set and / or monitor a predetermined rate of flow of box units within the automated storage and retrieval system 100. For example, the warehouse management system 199 monitors and manages the automated systems of the automated storage and retrieval system 100 (such as inbound / outbound box conveyors 150A, 150B, robot 110, and palletizer / unloading unit 10A, 10B), where each or more automated systems have a given transaction time (such as the time / cycle of implementing the basic unit of box transport or transfer, e.g., the time for conveying box units on the inbound / outbound box conveyor to the pick / place station / transferring box units away from the inbound / outbound box conveyor, or lifting box units to a predetermined distance, or the time for the robot to pick / place at the storage location, transfer pallet layers to pallets or transfer from pallets, etc.), which, in effect, defines, individually or in combination, the predetermined rate of box unit flow in the automated storage and retrieval system 100 established by the warehouse management system 199 under the control of the warehouse management system 199 or any other suitable controller of the automated storage and retrieval system 100 (e.g., robot controller, conveyor controller, palletizer / unloading unit controller, etc.). For example, the controller 199C of the warehouse management system 199 is communicatively connected to the inbound / outbound box conveyors 150A and 150B, such that the inbound / outbound box conveyors 150A and 150B transport box units bidirectionally to and from the storage structure array 130 at a predetermined box feeding rate. The controller 199C is also communicatively connected to the palletizer / unloading unit 10A and 10B corresponding to the inbound / outbound box conveyors 150A and 150B, such that the activation and deactivation of the substantially continuous palletizer / unloading unit 10A and 10B are matched with the predetermined box feeding rate. Although the various embodiments disclosed herein are described with respect to a warehouse system 100WS having an automated storage and retrieval system 100 and an automated transport system, the various embodiments disclosed herein are also applicable to distribution facilities having any suitable transport system, such as both automated and manual transport systems or a fully manual transport system, where automated transport transactions and manual transport transactions each have their own transaction times, and the activation and deactivation of pallets in and out of the box units can be matched in a manner and transaction time substantially similar to those described herein.

[0051] In one embodiment, each outgoing conveyor station 160 forms a box output path Op, where a palletizer / unloading unit 10B stacks box units layer by layer onto a pallet PAL, such as using an automated layer interface unit, such as one or more automated box manipulators 14. In one embodiment, the pallet PAL can be formed as a standard pallet (e.g., homogeneous box units) or a hybrid pallet, as described in U.S. Patent Application No. 14 / 997,920, filed January 18, 2016, the disclosure of which is incorporated herein by reference in its entirety. In one embodiment, the warehouse management system 199 is configured to establish a pallet solution with hybrid box units, providing a stable pallet load stack suitable for end effectors of one or more automated box manipulators 14 for conveying as a single layer. As stated above, a suitable example of the palletizer / unloading unit 10B can be found in U.S. Patent Application No. 15 / 235,254, filed August 12, 2016, the disclosure of which or therein is incorporated herein by reference in its entirety.

[0052] In one configuration, the palletizer / unloading unit 10B is connected to the automated storage and retrieval system 100 and a transport system such as the in / out box conveyor 150B to form an integrated output system (e.g., an outgoing conveyor station 160). This system receives box units from the automated storage and retrieval system 100 for placement on pallets in any suitable unordered order. For example, as described above, pallet-loaded item units or boxes CUs routed to one or more automated box manipulators 14 are conveyed to the pallet PAL via the end effectors of one or more automated box manipulators 14. The pallet-loaded item units CUs (output box units) are arranged layer by layer in a predetermined order established by the warehouse management system 199 (note that this layer may cover all or part of the pallet) to form a standard output pallet load.

[0053] Each outgoing conveyor station 160 defines a box output path Op integrated with the automated storage and retrieval system 100 and the warehouse management system 199, where the warehouse management system 199 includes any suitable controller 199C and memory built with any suitable non-transient code to manage the operation of the warehouse system 100WS, including box unit outputs from the storage structure array 130, as described herein. In one embodiment, each box unit output path Op includes at least one corresponding box unit inspection unit 142 (as described above) connected to the warehouse management system 199. In one embodiment, as described above, the palletizer / unloading unit 10B can be fully automated to build or activate the pallet loading layer. It is worth noting that, referring to Figure 2, the term "activation" refers to the construction of pallet layers PL1, PL2, PL3, PL4 (all or part) to pallet PAL, such that each pallet-loaded item unit CU is inserted with layers PL1, PL2, PL3, PL4 at a predetermined level 200 of pallet PAL (which may correspond to a decommissioning / activation level or a transfer plane) until pallet layers PL1, PL2, PL3, PL4, PL5 are formed, such that in some configurations, pallet PAL is indexed (by any suitable pallet lifting device of palletizing unit 10) to the level below pallet PAL to construct the level PL1, PL2 (all or part) corresponding to the level below the level below pallet PAL. In one configuration, the palletizer / unloading unit 10B is configured to enable layers PL1, PL2, PL3, PL4, and PL5, such that this activation is synchronized or otherwise coordinated (e.g., matched) by the warehouse management system 199 with a predetermined rate of flow or feed rate of the box units, in a manner substantially similar to that described above with respect to the decommissioning of layers PL1, PL2, PL3, and PL4, within the automated storage and retrieval system 100. The warehouse management system 199 manages the box unit retrieval sequence and the sequence of mixed box unit outputs to the packaging sequence of mixed box unit pallet loads, as well as other associated configurations such as inventory reconciliation outputs.

[0054] According to the various embodiments disclosed, and referring to Figures 1 and 3, the slipper removal system 300 forms part of each inlet / outlet box conveyor 150 and includes a controller 333, at least one bottom slipper remover 310, and a smart detection system (as described herein). The slipper removal system 300 may also include one or more layer placement conveyors 320 (also referred to as layer placement platforms), collection conveyors 325 (of which the bottom slipper remover 310 is part), support conveyors 330, and slipper removers 350. Here, the palletizer / unloading palletizer 10 and the slide removal system 300 may be referred to as an intelligent automated unloading palletizer or a layer depalletizing system (LDS) (see Figure 1, note that the layer depalletizing system LDS is schematically illustrated, and one or more feeder stations 170 include the layer depalletizing system LDS as described). As described herein, the slide removal system 300 provides intelligence to identify and pick up (and remove) top and bottom slides. The controller 333 is communicatively coupled to the collecting conveyor 325 (and its bottom slide remover 310), the layer placement conveyor 320, the support conveyor 330, and the slide remover 350 (e.g., the controller 333 is connected to the respective components, such as the motor, sensor, scanner, vision system, etc. of the slide removal system 300), to perform the operation of the slide removal system 300 in the manner described herein.

[0055] As described herein, the slide removal system 300 includes a slide detection sensor (formed by one or more sensors, scanners, vision systems, etc.), and a controller 333 is communicatively coupled to the slide detection sensor to receive from the slide detection sensor a signal identifying the presence of a slide 277 (as described herein). The controller 333 is configured to determine the slide 277 based on the received signal, which contacts at least one of the uppermost surface PLUS and the bottom surface PLLS (see, for example, FIG. 15B) of the pallet layer PL. The controller 333 is any suitable controller (with any suitable memory and processor), and in some cases may be incorporated into the controller 199C, or otherwise communicate with at least the controller 199C and / or the controller 10C of the corresponding palletizer / unloading unit 10A, 10B, which transports boxes CU to or receives boxes CU from the system 300.

[0056] Referring to Figures 1, 3, 4A, 4B, 6, and 7, the accumulation conveyor 325 and the stacking conveyor 320 are illustrated as having a common frame 498B; however, in other configurations, the accumulation conveyor 325 and the stacking conveyor 320 may have separate frames, which are coupled to each other in any suitable manner to form frame 498B. Frame 498B is part of frame 498 of the slip-removal system 300. The stacking conveyor 320 is configured to receive pallet layers PL from any suitable automated box manipulator 14 of its respective palletizing unit 10. The stacking conveyor 320 includes a pad conveyor belt 321 having a conveying surface 321CS. Herein, the stacking conveyor 320 is constructed to place the placed pallet layers PL (also referred to as depalletized layers) onto the conveying surface 321CS of the pad conveyor belt 321. The top conveyor belt 321 has a transverse conveying direction (e.g., direction 499) that allows the placed pallet layer PL to traverse the exit layer placement conveyor 320 (see Figures 3 and 16A-17B). For example, the top conveyor belt 321 is driven by any suitable motor to convey the placed pallet layer PL (i.e., placed on the top conveyor 321) in conveying direction 499A for transferring the pallet layer PL (and its boxes CU) to the collection conveyor 325 (see Figures 16A-17B). The collection conveyor 325 includes a top conveyor belt 326 having a conveying surface 326CS, which is driven by any suitable motor to convey the placed pallet layer PL (i.e., placed on the conveying surface 326CS) in conveying direction 499 for transferring the placed pallet layer PL (and its boxes CU) to the bottom slip remover 310. The top conveyor belt 321 of the layer placement conveyor 320 is driven at a lower speed than the top conveyor belt 326 of the collection conveyor 325, so that when there is no slip 277 under the placed pallet layer PL, the boxes CU of the placed pallet layer are spaced apart from each other by a certain distance 1700 along the conveying direction 499 (see Figure 17), and have a transition area between adjacent boxes from the layer placement conveyor 320 to the collection conveyor 325.

[0057] Referring to Figures 3, 4A, 4B, 5A, 5B, 5C, 14A, 14B, 15A, and 15B, the bottom slipper remover 310 includes at least a portion of a frame 498A, a conveyor section 400 (which is part of the aggregate conveyor 325), a pusher 420 (also referred to as a displacement device 420, see Figures 3, 4A, and 4B), and a smart detection system (e.g., a slipper detector 1400, which may be referred to as a slipper detection sensor). The frame 498A of the bottom slipper remover 310 is another part of the frame 498 of the slipper removal system 300 and is coupled to the frame 498B in any suitable manner. The conveyor section 400 (which may be substantially similar to the pad conveyor belts 321, 326) is coupled to the frame 498A in any suitable manner (or is otherwise integrally formed with the frame 498A) and configured to transport the placed pallet layer PL (and its boxes CU – see Figures 16A-17B) generally along the conveying direction 499 (note that direction 499A corresponds to the respective in / out box conveyors 150 operating in the introduction role, and this direction may be opposite to the respective in / out box conveyors 150 operating in the exit role, see direction 499B). The conveyor section 400 includes any suitable conveying surface 401 configured with a substantially uniform (e.g., common or steady-state) coefficient of friction for at least carrying out the conveying of the pallet layer PL along the conveying direction 499. For example, as illustrated in Figure 5A, the conveying surface 401 is formed by a substantially continuous / solid rubber-topped (endless) belt 401R. As another example, as illustrated in Figure 5B, the conveyor surface 401 is formed by a perforated rubber-topped (endless) belt 401P. As yet another example, the conveyor surface 401 is formed by one or more rubber-topped (endless) belts 401C (e.g., a cassette conveyor section). Although the conveyor top described herein is rubber, in other cases, the conveyor top may be formed of any suitable material having a coefficient of friction, which performs the conveying of the pallet layer PL and the retention of the slide 277 for removal, as described herein. The conveyor section 400 includes any suitable motor 401M configured to drive the conveyor surface 401 to convey the pallet layer PL (and its boxes CU) at least along the conveying direction 499. As can be seen in Figures 5A, 5B, and 5C, the motor 401M includes any suitable lock 401L configured to prevent movement of the conveying surface 401 in the conveying direction 499 and to hold the conveying surface 401 substantially stationary relative to the conveying direction 499. The lock 401L may be configured as a friction brake (e.g., a clutch brake, etc.), a magnetic brake (e.g., an eddy current magnetic brake, etc.), or any other suitable brake configured to prevent and maintain the conveying surface 401 substantially stationary.

[0058] As can be seen in Figures 3, 4A, and 4B, the push rod or displacement device 420 is movably coupled to the layer placement conveyor 320 and, as described herein, is actuated in a direction aligned with the conveying transverse direction 499. As described herein, the displacement device is actuated between an advance position (see Figures 16B and 17B) and a retracted position (see Figures 3, 16A, and 17A), displacing the pallet layer PL and slide plate 277 relative to each other on the bottom surface of the pallet layer (as described herein), thereby separating the pallet layer PL and slide plate 277 from each other. The push rod 420 includes at least one transfer table 430, each transfer table 430 having a linear actuator 430L, a carriage 430C coupled to the linear actuator 430L, and a push rod 435 pivotally coupled to the carriage 430C, so as to actuately lift and lower from an engaged or deployed position to an engaged or deployed position (e.g., see Figures 4A, 4B, and 8) and from a disengaged or retracted position to a disengaged or retracted position (e.g., see Figures 3, 9, 10, and 13), as described herein. The linear actuator 430L is coupled to and extends along the frame 498A in a direction substantially parallel to the transport direction 499. The linear actuator 430L is any suitable linear actuator (e.g., hydraulic or pneumatic cylinder, electric drive, belt / chain drive, gear drive, etc.) configured to move the carriage 430C in a reciprocating motion along the frame 498A in the conveying directions 499A, 499B. The push rod 435 is pivotally coupled to the carriage 430C so that it moves as a unit with the carriage 430C along the conveying direction 499. The carriage 430C includes any suitable actuator (e.g., motor, actuator, transmission, etc.) 430CD, which is connected to the push rod 435 and configured to pivot the push rod in direction 495 between an extended position (illustrated in Figures 4A, 4B, and 8) and a retracted position (illustrated in Figures 3, 9, 10, and 13). With push rod 435 in the retracted position, the pallet layer PL is conveyed along the conveying direction 499 by the conveyor section 400 of the collecting conveyor 325 and the bottom slipper remover 310, and between them (and by the conveyor section 400 of the bottom slipper remover 310 and the support conveyor 330 in the conveying direction 499, and between them). With push rod 435 in the extended position, push rod 435 (actuated by linear actuator 430L) pushes the pallet layer from the conveyor section 400 of the bottom slipper remover 310 in the conveying direction 499A (keeping the conveyor section 400 stationary), thereby removing the slipper 277 in the manner described herein, such as by moving the pallet layer PL and the slipper 277 relative to each other to peel the pallet layer PL from the slipper 277.

[0059] In the configuration illustrated in Figure 4A, the bottom slide remover 310 includes two transfer tables 430 (e.g., one transfer table on each of the lateral sides LAT1, LAT2 of the bottom slide remover 310). Each transfer table 430 includes a respective push rod 435 that spans approximately half the width of the conveyor section 400 (e.g., the width of the conveyor section 400 between the lateral sides LAT1, LAT2), such that the combined span of the respective push rods 435 spans the pallet layer PL, for pushing the pallet layer from the conveyor section 400 as a whole, as described herein. Herein, the bottom slide remover 310 illustrated in Figure 4A includes two opposing push rods 435 that operate in a coordinated manner (e.g., the transfer table 430 rotates each push rod 435 to the unfolded position and moves the push rods 435 in direction 499A at substantially the same rate of motion) to jointly push the pallet layer PL from the conveyor section 400 of the aggregate conveyor 325 to the support conveyor 330.

[0060] In the configuration illustrated in Figure 4B, the bottom slide remover 310 includes a transfer platform 430 on one of its lateral sides (e.g., either lateral side LAT1 or lateral side LAT2). The transfer platform 430 includes a respective push rod 435 spanning approximately the entire width of the conveyor section 400 (e.g., the width of the conveyor section 400 between lateral sides LAT1 and LAT2), such that the span of each push rod 435 extends across the pallet layer PL, for pushing the pallet layer from the conveyor section 400 as a whole, as described herein. Here, the bottom slide remover 310 illustrated in Figure 4B includes a single push rod 435 that is operated (e.g., the transfer platform 430 rotates its respective push rod 435 to an extended position and moves the push rod 435 in direction 499A) to push the pallet layer PL from the conveyor section 400 of the aggregate conveyor 325 to the support conveyor 330.

[0061] Although the drawings show one push rod 435 or two push rods 435, it should be understood that the bottom slide removal machine may have more than two push rods.

[0062] As best seen in Figures 14A, 14B, 15A, and 15B, and as described above, the bottom slide remover 310 includes part of the intelligent detection system of the slide removal system 300. The intelligent detection system part including the bottom slide remover 310 is the slide detector 1400. As described herein, the slide detector 1400 is coupled to the stacking conveyor 320 and configured to sense the slide 277 (see Figure 15B, where the stacking layer PL is illustrated for illustrative purposes only) in contact with at least one of the uppermost surface PLUS and the bottom surface PLLS of the stacked pallet. Here, the slide detector 1400 (as described herein) is provided to sense the slide 277 on at least one of the uppermost surface PLUS and the bottom surface PLLS of the stacked pallet. As described herein, a slider detector 1400 is provided to sense sliders 277 on at least one of the uppermost surface PLUS and the bottom surface PLLS of the placed pallet layer PL, so that the pallet layer PL is placed on the conveying surface of the stacking conveyor 320 (e.g., one or more of the conveying surfaces 321CS, 326CS, 401).

[0063] The slide detector 1400 includes a sub-rack 498S, a scanner 1405, and a lens 1410 (e.g., an optical lens or another suitable mirror / reflective surface). The sub-rack 498S is configured to couple with the rack 498 of the bottom slide remover 310; however, in other configurations, the sub-rack 498S may be configured to couple with the rack 498B of the collection conveyor 325 / layer placement conveyor 320. The scanner 1405 is any suitable scanner / sensor configured with a substantially planar field of view (FOVS) that extends through the gap 485 formed in the collection conveyor 325 between the conveyor surface 401 of the conveyor section 400 of the bottom slide remover 310 and the pad conveyor belt 326, in order to detect the space (e.g., distance 1700) between adjacent boxes CU (see Figure 17A). As an example, scanner 1405 is an electromagnetic beam sensor configured to radiate a sensing beam (see Figure 15A) in a direction traversing the mounting plane SP (see Figure 15B) of the transport surfaces 321CS, 326CS, 401, in order to sense the slider 277 on at least one of the uppermost surface PLUS and the bottom surface PLLS of the mounted pallet layer PL. As another example, scanner 1405 is an imaging sensor (e.g., a two-dimensional presence sensor, such as a ranging laser scanner, a LiDAR scanner, a two-dimensional ranging optical scanner / sensor, an acoustic ranging sensor, a time-of-flight camera, etc.) registering (e.g., with any suitable memory such as controller 333 or another suitable controller) the slider 277 on at least one of the uppermost surface PLUS and the bottom surface PLLS of the mounted pallet layer PL in a direction traversing the mounting plane SP of the mounted pallet layer PL on the transport surfaces 321CS, 326CS, 401. Scanner 1405 can be any suitable electromagnetic beam scanner or another suitable optical scanner.

[0064] The scanner 1405 is coupled to the subrack 498S via an adjustable mount 1450; however, in other configurations, the scanner 1405 can be secured to the subrack 498S in any suitable manner. The adjustable mount 1450 includes at least one adjustment stage, such as in one or more of the X, Y, Z, Rx, Ry, and Rz directions. The Y direction substantially coincides with the transport direction (also referred to as the transport lateral direction) 499, the X direction is transverse to (e.g., substantially perpendicular to) the transport direction 499 in the plane defined by the transport surface 401, and the Z direction is transverse to the transport direction 499 and substantially perpendicular to the plane defined by the transport surface 401. RX, RY, and RZ are the directions of rotation about the X, Y, and Z axes, respectively (see Figures 3, 14A, 14B, and 15B). As an example, the adjustable mount 1450 includes a Z-axis stage 1450Z (e.g., a rack and pinion, ball screw, or another linear / rotary actuator) configured to raise or lower the scanner 1405 along the Z-axis. The adjustable mount 1450 may also include an X-axis stage 1450X (e.g., a screw jack or another linear / rotary actuator) configured to tilt the scanner about the X-axis in the RX direction. The adjustable mount 1450 may also include a Y-axis stage 1450Y (e.g., a screw jack or another linear / rotary actuator) configured to tilt the scanner about the Y-axis in the RY direction.

[0065] Lens 1410 is coupled to subrack 498S to reflect / alter the direction of radiation emitted from scanner 1405 (and thereby the field of view (FOVS) defined therefrom), or, in other cases, to reflect / alter the field of view (FOVS) / radiation of any other suitable imaging sensor, such as those described herein. Here, radiation (and / or field of view) extends from scanner 1405 and is redirected by lens 1410 through gap 485 to slider 277 or housing CU, whereby the radiation is then reflected back through gap 485 by slider 277 or housing CU and redirected by lens 1410 to scanner 1405. Lens 1410 may be fixedly coupled to subrack 498S, positioning subrack 498S on one of racks 498A, 498B, such that the lens is aligned with gap 485 for redirecting radiation from scanner through gap 485. In one or more configurations, the lens 1410 can be mounted to the subframe 498S about the pivot axis 1411, so that the position of the lens 1410 in the direction RX1 can be adjusted to implement the return of radiation from the slider 277 or the box CU to the scanner 1405.

[0066] One or more air knives 1460, 1461 are mounted to subrack 498S in any suitable manner and configured to clean the reflective surface of lens 1410 (i.e., the surface on which the lens redirects radiation to / from scanner 1405) and the lens of scanner 1405 (i.e., radiation emitted from and received by the lens). Air knife 1460 is coupled to subrack 498S adjacent to scanner 1405 and extends adjacent to at least a portion of scanner 1405 to eject compressed air across the lens to clean the lens. Air knife 1461 is coupled to subrack 498S adjacent to lens 1410 and extends adjacent to at least a portion of lens 1410 to eject compressed air across lens 1410 to clean the reflective surface. In other configurations, lens 1410 can be cleaned manually in any suitable manner. Air knives 1460 and 1461 can be activated at the same time or at different times and at any suitable time interval between activations. Each air knife 1460 or 1461 can be activated for any suitable duration, performing cleaning of either the reflective surface or the lens.

[0067] One or more presence sensors 476, 477 are coupled to rack 498B in any suitable manner and may also form part of the intelligent detection system of bottom slider removal system 300. Although one or more presence sensors 476, 477 are described as being coupled to rack 498B, in other configurations, at least one of the presence sensors 476, 477 may be coupled to rack 498A, 498B of bottom slider remover 310 in any suitable manner. Presence sensors 476, 477 may be any suitable two-dimensional presence sensor, such as a ranging laser scanner, a laser radar scanner, a two-dimensional ranging optical scanner / sensor, an acoustic ranging sensor, a time-of-flight camera, etc.

[0068] Sensor 477 is coupled to frame 498B (or frame 498A) and positioned relative to both the collection conveyor 325 and the stacking conveyor 320 such that the field of view (FOVL) of sensor 477 substantially covers the entire conveying surface of both the collection conveyor 325 and the stacking conveyor 320. Here, sensor 477 provides a sensor signal to controller 333 (which can be transmitted to controller 10C of palletizer unit 10), indicating the presence or absence of objects on the pad conveyors 321, 326, which can be prevented / impeded by one or more automated box manipulators 14 of palletizer unit 10 to place pallet layers PL. With the pad conveyors 321, 326 substantially unobstructed, one or more automated box manipulators 14 place pallet layers PL onto the stacking conveyor 320.

[0069] The field of view (FOVL) of sensor 477 may include one or more verification areas VI, V2 (e.g., see Figure 6) for self-alignment checks of presence sensor 477 relative to the X and Y axes. For example, the automated box manipulator(s) 14 lift / support 14R (an exemplary configuration is shown in the figure, but may have any suitable configuration) includes at least two targets 14T1, 14T2 (e.g., see Figure 6) which are positioned in a known location relative to frame 498 and presence sensor 477, and (it is worth noting that the field of view of sensor 477 (and sensor 476) can extend beyond the range shown in the figure to detect the position of targets positioned on the lift in a manner similar to that described herein, and the field of view and target positions shown in the figure are for illustrative purposes only). The alignment of the presence sensor 477 is verified when the position of each target 14T1, 14T2 detected by the presence sensor 477 is located within one of the verification areas V1, V2 (e.g., within a predetermined tolerance). If the position of more than one target 14T1, 14T2 detected by the presence sensor 477 is outside one of the verification areas V1, V2, the self-alignment check fails, and the controller 333 can provide an indication to the human operator that at least the presence sensor 477 should be repaired (e.g., visual, auditory, etc.). In other cases, the targets 14T1, 14T2 can be located in any suitable position, such as on the rack 498 of the slide removal system 300.

[0070] Sensor 476 is coupled to frame 498B (or frame 498A) and positioned relative to the conveyor of bottom slide remover 310 such that the field of view (FOVP) of sensor 476 extends over at least one region DA of conveyor section 400 (see also FIG. 10), in which at least one push rod 435 is rotated to an extended position. Here, sensor 476 provides a sensor signal to controller 333 (which can be transmitted to controller 10C of palletizer unit 10) indicating the presence or absence of an object on conveyor section 400, which can otherwise prevent the extension of at least one push rod 435. When no object is present in at least region DA of conveyor section 400, at least one push rod 435 is rotated to the extended position. The field of view (FOVP) of sensor 476 may include more than one verification region V3, V4 (e.g., see FIG. 7) for presence sensor 476 self-alignment checks relative to the X and Y axes. For example, the lifting element 14R of the automated box manipulator 14 includes at least two targets 14T3, 14T4 (e.g., see Figure 7), which are positioned in known locations relative to the frame 498 and the presence sensor 476. The alignment of the presence sensor 476 is verified when the position of each target 14T3, 14T4 detected by the presence sensor 476 is located within one of the verification areas V3, V4 (e.g., within predetermined tolerances). If the position of more than one target 14T3, 14T4 detected by the presence sensor 476 is outside one of the verification areas V3, V4, the self-alignment check fails, and the controller 333 can provide an indication to the human operator that at least the presence sensor 476 should be maintained (e.g., visually, audibly, etc.). In other cases, the targets 14T3, 14T4 can be located in any suitable position, such as on the frame 498 of the slide removal system 300.

[0071] The support conveyor 330 includes a frame 498C (e.g., see Figures 3 and 5A-5C), which forms part of the frame 498 of the slide removal system 300. The frame 498C is coupled to the frame 498A in any suitable manner to position the support conveyor 330 adjacent to the bottom slide remover 310. The support conveyor 330 includes cassette conveyor sections 331. Each cassette conveyor section 331 includes a top conveyor belt 331B. The cassette conveyor sections 331 are angled relative to each other such that as the boxes CU travel along the support conveyor 330 in the conveying direction 499A, the cassette conveyor sections 331 spread the boxes CU apart in the X direction (i.e., in the direction transverse to the conveying direction 499A) (i.e., increase the distance between them), as illustrated in Figures 16B and 17B. The cassette conveyor section 331 can also be operated, for example, by a controller 333 (see Figure 3), such that the top conveyor belt 331B of the cassette conveyor section 331 operates at a faster ratio / speed than the conveyor section 400 of the bottom slipper remover 310, and the distance or gap 1600 between the box units CU in the Y direction is increased in a manner substantially similar to the transition of the box CU between the stacking conveyor 320 and the collection conveyor 325 described herein. Like the bottom slipper remover 310, the collection conveyor 325, and the stacking conveyor 320, the support conveyor 330 can also be operated to transport the box CU in the 499B direction, such that the box CU flows in the 499B direction in a manner substantially opposite to that described above.

[0072] Referring to Figures 3, 16A, and 16B, as described above, the slide removal system 300 may include a slide remover 350 (also referred to as a slide pick-up and removal mechanism 350). A controller 333 is operatively connected to the slide remover 350 to actuate the slide remover 350, which engages with the slide 277, causing the slide to contact at least one of the uppermost surface PLUS and the bottom surface PLLS, and lifting the slide 277 to discharge it from the collection conveyor 325 (also referred to as a layer placement platform). Actuation of the slide remover 350 (as described herein) is based on signals received from a slide detection sensor.

[0073] The slide remover 350 extends at least partially above the stack placement conveyor 320 and is configured to engage a slide 277 above the stack placement conveyor 320, the slide 277 contacting at least one of the uppermost surface PLUS and the bottom surface PLLS of the stacked pallet layer PL. The slide remover 350 is at least partially disposed above the bottom slide remover 310 and includes a slide holder 351 (also referred to as a pick-up head 351) configured to hold or otherwise engage the upper surface 277US of the slide 277 held on the conveyor section 400 of the aggregate conveyor 325 (or the uppermost surface PLUS of the pallet layer PL – note that the upper surface 277UC is shown in Figures 16A and 16B as being below the pallet layer PL, but can otherwise be located on the uppermost surface PLUS of the pallet layer PL as described herein), and transport the held slide 277 to any suitable slide receiver 1666 (e.g., a reservoir, pallet, etc.). The slide remover 350 includes a frame 355 configured to movably suspend the slide holder 351 above the conveyor section 400. For example, the rack includes one or more pillars / supports 356 extending from the floor of the warehouse facility in which the warehouse system 100WS is installed. The pillars 356 support the overhead gantry 370 carrying the slide clamp 351. Although the overhead gantry 370 is described as being supported by the pillars 356, in other configurations, the overhead gantry 370 may be suspended from the ceiling of the warehouse facility.

[0074] The overhead gantry 370 includes at least one horizontal transverse axis and one vertical transverse axis. The at least one horizontal transverse axis includes any suitable linear actuator 371L (e.g., piston, belt drive, chain drive, etc.) configured to move the gantry carriage 371 (of the slide remover 350) along the X direction. The gantry carriage 371 includes any suitable linear actuator 372L (similar to those described herein) configured to move the Z-axis carriage 372 along the Z direction. The Z-axis carriage 372 is carried by the gantry carriage 371 and moves along the X direction as a unit with the gantry carriage 371. The slide holder 351 is carried by the Z-axis carriage 372, such that the combination of the gantry carriage 371 and the Z-axis carriage 372 provides the slide holder 351 with at least two degrees of freedom of movement (e.g., in the X and Z directions).

[0075] In some configurations, the Z-axis carriage 372 may include any suitable linear actuator 373L (similar to those described herein) and the Y-axis carriage 373. The Y-axis carriage 373 is moved along the Y-axis by a linear actuator to provide the slide holder 351 with three degrees of freedom of movement.

[0076] The slide remover 350 is coupled to the controller 333 such that the slide holder 351 moves along one or more of the X, Y, and Z axes to pick up the slide 277 from the conveyor section 400 of the collection conveyor 325 (e.g., see Figure 16B) and transport the slide 277 to the slide receiver 1666 to perform automatic removal of the slide 277 from under the pallet layer PL, as described herein. Here, the direction of movement of the slide remover 350 (e.g., the travel path TRVLP - see Figure 16B, used as an exemplary travel path, although any suitable path may be followed) is such that the feed of the layer placement conveyor 320 to the next pallet layer or subsequent pallet layers is unobstructed, as will be described herein.

[0077] The slider holder 351 is configured as a vacuum holder, including a suction port or suction cup 387 that releasably holds (e.g., under the control of controller 333) the slider 277. A vacuum source 388 for the suction port or suction cup 387 may be disposed on the slider holder 351, or supported on one of the frame 355, the Z-axis carriage 372, and the Y-axis carriage 373, and communicatively coupled to the suction port or suction cup 387 in any suitable manner. In other embodiments, the slider holder 351 is configured to hold and release the slider 277 in any suitable manner.

[0078] In other embodiments, the slide 277 may be manually removed from the conveyor section 400. In yet another embodiment, the slide 277 may be automatically removed from the conveyor section 400 by redirecting the slide 277 through the gap 390 (see Figure 3) between the conveyor section 400 of the aggregate conveyor 325 and the pad conveyor belt 331B of the support conveyor 330, in any suitable manner, such as in U.S. Patent Application No. 17 / 070,753, filed October 14, 2020, entitled "Vision-Assisted Automated Unloading Machine," the disclosure of which is incorporated herein by reference in its entirety.

[0079] Referring to Figures 3 and 8-13, during operation, at least one push rod 435 of the bottom slide remover 310 has several operating positions. At the start / initialization point of the bottom slide remover 310, the push surface PF of the push rod 435 (also see Figures 4A and 4B) moves to its original position (see Figure 8), which is a predetermined distance Y1 relative to the reference plane DP of the frame 498A. Although at least one push rod 435 is shown in the extended position in the original position, at least one push rod 435 may also be in the retracted position in the original position. The reference plane DP may correspond to the starting point / position of the travel of the box CU on the bottom slide remover 310 (e.g., the "feed edge" or position of the conveyor section 400, where the box first engages the conveyor section 400 for conveying by the bottom slide remover 310). A predetermined distance Y1 corresponds to the end point / position of the travel of the box CU on the bottom slide remover 310 (e.g., the position where the box leaves the conveyor section 400 after being transported by the bottom slide remover 310). The original position can be defined by a stop surface 801 set at a predetermined position on the frame 498A relative to the reference plane DP. Here, the carriage 430C includes a stop surface 802 having a known positional relationship with the push surface PF. The carriage is driven in the transport direction 499A to engage the stop surface 801, and the engagement between these surfaces 801 and 802 is detected in any suitable manner (e.g., force feedback, motor current measurement, proximity sensor, etc.). Engaging with surfaces 801 and 802 (e.g., in substantial contact), the push surface PF of at least one push rod 435 is located at a distance Y1 from the reference plane DP so that the controller 333 has a known position of the push surface PF at the start / initialization of the bottom slide remover 310.

[0080] At least one push rod 435 has its push surface PF in a waiting position (see Figure 9), in which the push rod 435 (e.g., its motor / actuator 430CD, 430L) is positioned in anticipation of a signal from the controller 333 for removing the slide 277. In the waiting position, at least one push rod 435 is in a retracted position, and the push surface PF of at least one push rod is located at a predetermined distance Y2 from the reference plane DP. The predetermined distance Y2 is the distance by which the automated box manipulator 14 provides clearance for placing the pallet layer PL on the layer placement conveyor 320. As will be described herein, when the slide 277 is not present below / detected below the pallet layer PL, at least one push rod arm 435 remains in the waiting position, and the conveyor section 400 of the collection conveyor 325 conveys the pallet layer from the bottom slide remover 310 to the support conveyor 330.

[0081] As controller 333 commands the removal of slide 277, the push surface PF of at least one push rod 435 is moved to a position ready to be below the area DA (see also FIG. 7) within the field of view FOVP of sensor 476 (FIG. 10). To implement the descent of at least one push rod 435, the push surface PF of at least one push rod 435 is moved to a predetermined distance Y3 from the reference plane DP, where this distance Y3 is within the area DA. Here, the slide is detected in the manner described herein, and the pallet layer LP is conveyed in direction 499A to the end of conveyor section 400 (before transitioning to the support conveyor 330). Sensor 476 scans area DA and determines the presence of an object within area DA. If there is no object in area DA, push rod 435 moves to the ready push position (FIG. 11). In the ready push position, the push surface PF remains within area DA, and push rod 435 is lowered to the extended position, as illustrated in FIG. 11. The carriage 430C includes any suitable position / proximity sensors 1001, 1002 that detect or otherwise determine whether the push rod 435 is in the retracted or extended position.

[0082] The push rod 435, for example, moves from a ready-to-push position to a push-end position (Fig. 12) in the conveying direction 499A under the command of the controller 333 and by the actuator 430L. This push-end position is located at a distance Y4 from the reference plane DP. As the push rod 435 moves laterally from the ready-to-push position (Fig. 11) to the push-end position (Fig. 12), the push surface PF of at least one push rod 435 pushes the box CU of the pallet layer PL away from (i.e., peels the pallet layer PL from the slide 277) and onto the support conveyor 330 (see Figs. 16A and 16B). (It is worth noting that when the box CU is pushed by the push surface, the slide holder 351 is positioned above the conveyor section 400 of the collection conveyor 325.) As the box CU of the pallet layer PL is conveyed to the support conveyor 330, the push rod is pivoted to the retracted position, so that the push rod 435 is in the push-end retracted position (Fig. 13). The push rod 435 moves from the push-end retracted position to the waiting position (FIG. 9) in anticipation of the detection of another slide 277 (note that as the push rod 435 moves to the waiting position, the slide holder 351 moves to hold the slide 277 on the conveyor section 400). Here, the retraction of the push rod 420 (e.g., moving the push rod 435 to the waiting position) and the pickup of the slide 277 for unloading by the slide remover 350 are decoupled from each other (e.g., the pickup of the slide can be performed by the push rod 435 at the push-end position, by the push rod 435 at the waiting position, or by the push rod moving from the push-end position to the waiting position, in which the movement of the slide remover 350 is independent of the movement of the push rod 420), as will be further described herein. The retraction of push rod 420 and the pickup of slide 277 for unloading by slide remover 350 are substantially at least partially coincident (e.g., for at least a portion of their respective movements, the retraction of push rod 420 and the pickup of slide remover 350 can occur simultaneously). In one configuration, push rod 435, closest to slide receiver 1666, can retract in direction 495 to a degree greater than the push rod further away from slide receiver 1666 (see Figure 4A) to provide clearance for slide 277 being transferred to slide receiver 1666.

[0083] It is worth noting that the time taken for at least one pusher arm 435 to move from the waiting position and push the pallet layer PL can be less than the time taken for the automated box manipulator 14 of the palletizer unit 10 to transfer the pallet layer PL to the stacking conveyor 320. The pushing of the pallet layer PL by at least one pusher arm 435 (e.g., the controller 333 coordinating the stop of the conveyor section 400 and the movement of at least one pusher arm 435) minimizes the pause of the pallet layer PL at the bottom slipper remover 310 in the conveying direction 499A, and the slipper removal system 300 provides substantially steady-state / continuous conveying of the pallet layer / box through the slipper removal system 300 in the conveying direction 499A. For example, the removal of the slipper 277 is decoupled from the state of the stacking conveyor 320 (e.g., open / conveying or closed / not conveying) and the movement of the pusher 420. As described herein, the direction of movement of the slide remover 350 (e.g., the travel path – see Figure 16B for an exemplary travel path, although any suitable path may be followed) is such that the feed of the next or subsequent pallet layer of the stacking conveyor 320 is unaffected. Here, the actuation of the slide remover 350 can occur substantially concurrently with the movement of at least one pusher arm 435 peeling the pallet layer PL from the slide 277, such that the slide 277 is substantially approaching (e.g., in time) the movement of the pallet layer PL away from the trailing edge of the slide 277 (e.g., the side where the pallet layer PL substantially contacts the push surface PF of the pusher 435) by the removal system of the slide remover (see Figure 16B). Therefore, the slide 277 is removed in the same state as the stacking conveyor 320 for peeling the pallet layer PL from the slide 277 (i.e., the removal system of the slide is decoupled from the state of the stacking conveyor 320 – the state of the stacking conveyor for slide removal remains constant). Here, the stacking conveyor 320 is essentially switched to the open state simultaneously with the removal of the slide 277 from the collection conveyor 325 by the slide remover 350, for conveying the next pallet layer. The next pallet layer is fed onto the stacking conveyor 320, substantially close to (e.g., in time) the removal of the slide 277, and the travel path / direction of the slide remover 350 is such that the feed of the next pallet layer along the stacking conveyor 320 is unaffected. Here, the pallet layer PL stripped from the slide 277, the timely removal of the slide 277 from the collection conveyor 325, and the next or subsequent pallet layer PL placed on the stacking conveyor approach each other (e.g., in time), so that the pallet layers / boxes are conveyed substantially steadily / continuously through the slide removal system 300 in the conveying direction 499A.

[0084] Referring to Figures 1, 3, 4A, 4B, 5A, 5B, 5C, 15B, 16A, 16B, 17A, 17B, 18A, 18B, and 19, exemplary operation of the slider removal system 300 will be described according to various aspects of the disclosed embodiments. As described herein, the slider removal system 300 is initialized such that the controller 333 knows the position Y1 of the actuation surface PF of at least one push rod 435 (Figure 8). Under the command of the controller 333, and by means of the actuator 430L, the push rod 435 is moved to a waiting position (e.g., a distance Y2 – Figure 9). The stacking conveyor 320 is confirmed to be free of obstructions by means of presence sensor 477 – see Figure 6, and the automated box manipulator(s) 14 of the palletizing unit 10 (e.g., which is communicatively coupled to the slide removal system 300) is operated to convey the pallet layer PL to the stacking conveyor 320 so that the slide removal system 300 receives the pallet layer PL (Figure 19, block 1900).

[0085] The pallet layer PL is conveyed along the layer placement conveyor 320 and the collection conveyor 325 in the conveying direction 499A, passing through the field of view (FOVS) of the scanner 1405 (Fig. 15A), so that the pallet layer PL is scanned by the scanner 1405 (Fig. 19, block 1905). With the slide 277 located below the pallet layer PL, the slide 277 blocks the passage of the pallet layer PL through the field of view (FOVS) for a duration. As described here, without the slide 277 located below the pallet layer PL, and with a difference in conveying speed between the layer placement conveyor 320 and the collection conveyor 325, the boxes CU of the pallet layer are spaced apart by a distance of 1700 when they pass through the field of view (FOVS) of the scanner 1405, so that the boxes CU intermittently block the field of view (FOVS). The controller 333 is configured to detect the presence of a slider 277 under the pallet layer PL based on whether the sensor signal from the scanner 1405 indicates a substantially stable / constant sensor value or a substantially periodic or non-constant sensor value. The controller 333 may also be configured to detect the presence of a slider 277 located on top of the pallet layer PL based on the magnitude of a substantially periodic or non-constant sensor value (e.g., the controller 333 is configured to distinguish between the pickup of a slider 277 located on top of the pallet layer PL or a slider 277 located under the pallet layer PL).

[0086] Figures 18A-18C illustrate sensor signals obtained by scanner 1405, demonstrating one-dimensional signal analysis for the slider 277 detection over time. Here, the scanner is, for example, the electromagnetic beam sensor described above. An exemplary sensor signal indicating the presence of slider 277 below the cargo layer PL is illustrated in Figure 18A. An exemplary sensor signal indicating the absence of slider 277 is illustrated in Figure 18B. An exemplary sensor signal indicating the presence of slider 277 on the top of the cargo layer PL is illustrated in Figure 18C. Figure 18A illustrates sensor signals for the transit duration (e.g., time) of the cargo layer PL passing through and across the field of view (FOVS), such that slider 277 obstructs the FOVS to generate a sensor signal with a substantially constant value. An exemplary sensor signal indicating the absence of slider 277 is illustrated in Figure 18B. Figure 18B also illustrates the sensor signal for the transit duration (e.g., time) of the pallet layer PL passing through and across the field of view (FOVS), such that the boxes CU intermittently block the FOVS to generate a sensor signal with box detection values ​​and an empty signal between boxes. It is noteworthy that as the field of view between boxes is unobstructed, the sensor signal increases to an empty or infinite value to provide an intermittent sensor signal indicating the absence of the slider 277. Figure 18C illustrates the sensor signal for the transit duration (e.g., time) of the pallet layer PL passing through and across the field of view (FOVS), such that the boxes CU intermittently block the FOVS to generate a sensor signal with box detection values ​​and a top slider detection value between boxes. Here, as the field of view is blocked by the slider 277 located on top of the pallet layer PL, the sensor signal increases to a value corresponding to the top surface of the box CU of the pallet layer PL to provide an intermittent sensor signal; however, as described above, the increase in the magnitude of the sensor signal between the box CUs is limited to indicate the presence of the slider on top of the pallet layer PL. The slide 277 can be removed from the top of the pallet layer PL in a manner substantially similar to that described herein; however, at least one pusher arm does not need to push the pallet layer away from the slide, instead the slide remover 350 can pick up the slide 277 substantially directly from the top of the pallet layer PL.

[0087] Figures 18D-18F illustrate sensor signals obtained by scanner 1405, performing at least two-dimensional (e.g., depth map) signal analysis for illustrative purposes to detect slider 277 over time. Here, the scanner is, for example, the imaging sensor (also referred to as a height sensor) described above. An exemplary depth map indicating the presence of slider 277 below the cargo shelf layer PL of the box unit CU is illustrated in Figure 18D. An exemplary depth map indicating the absence of slider 277 is illustrated in Figure 18C. An exemplary depth map indicating the presence of slider 277 on the top of the box unit CU of the cargo shelf layer PL is illustrated in Figure 18D. As described above, slider detection sensor 1400 includes scanner 1405 (also referred to as a height sensor). Here, slider detection sensor further includes encoder 1599 (also referred to as a distance sensor - see Figure 15B). Scanner 1405 is configured to measure the height between the surface of the placed depalletized layer PL and a predetermined reference (such as conveyor surface 401), and sends height measurement data reflecting this height measurement to controller 333. Encoder 1599 is configured to measure the distance (e.g., conveyor marking distance) of the height measurement value registered by scanner 1405, and sends distance measurement data reflecting this distance measurement value to controller 333. Controller 333 is configured to combine the height measurement data and distance measurement data to form a two-dimensional depth map depicting the characteristics of the surface of the depalletized layer PL placed on the collection conveyor 325, and controller 333 determines the presence of slide 277 and the position of contact with at least one of the uppermost surface PLUS and the bottom surface PLLS of the placed depalletized layer PL. For example, as described above, the field of view FOVS of scanner 1405 is substantially planar and can be considered a single scan line relative to the measuring movement of the box unit CU along the collection conveyor 325. Here, the distance between the surface of the value system (e.g., of the slider 277 or the box unit CU) of each data point in the scan line and the scanner 1405 is defined. The material conveyor 325 includes an encoder 1599 (also referred to herein as a distance sensor, and together with the scanner 1450 forms a slider detection sensor 1400 – see Figure 15B) such that each scan line obtained by the scanner 1405 across the measured motion has a reference position indicating its displacement along the direction of motion 499 of the material conveyor 325. The encoder 1599 and scanner 1405 can be calibrated relative to the material conveyor 325 such that the marking size of the material conveyor (the number of markings generated by the encoder relative to a measurement of one meter or any other suitable distance traveled by the conveyor) is known, the scale in the direction perpendicular to the conveying surface 401 of the material conveyor 325 is known, and the reference line representing the conveying surface 401 is known. These calibration parameters can be accessed or stored in the controller 333.With the encoder 1599 and scanner 1405 calibrated, and knowing the displacement between scan lines and the distance between the scanner and the surface, the controller 333, via any suitable image processing algorithm, converts the scan lines from the scanner 1405 (e.g., together with the box unit CU moving in the transport lateral direction 499) into a two-dimensional depth map, such that each pixel is a known size in millimeters (or any other suitable unit of measurement), accurately measuring the box unit CU and slide 277 transported on the collection conveyor 325. Here, the value of each pixel in the depth map is the distance perpendicular to the transport surface 401 between the detected object (e.g., slide 277 or box unit CU) and the transport surface 401.

[0088] Figure 18D illustrates a two-dimensional depth map for measuring motion (e.g., distance) of the pallet layer PL passing through and across the field of view (FOVS), such that slider 277 obstructs the FOVS to produce a two-dimensional depth map with substantially constant values. An exemplary two-dimensional depth map indicating the absence of slider 277 is illustrated in Figure 18E, where box units CU are shown, and the space between box units CU is substantially null. In Figure 18E, a two-dimensional depth map for measuring motion of the pallet layer PL passing through and across the FOVS is illustrated, such that box CU intermittently obstructs the FOVS to produce a two-dimensional depth map with box detection values ​​and empty signals between boxes. It is noteworthy that as the field of view between boxes is unobstructed, the pixel distance data of the two-dimensional depth map increases to null or infinite values, indicating the absence of slider 277. Figure 18F illustrates a two-dimensional depth map for measuring the movement of the pallet layer PL through and across the field of view (FOVS), such that the boxes CU intermittently obstruct the FOVS to generate a two-dimensional depth map with box detection values ​​and top slider detection values ​​between boxes. Here, as the field of view is obstructed by the slider 277 located on top of the pallet layer PL, the pixel distance value between the boxes CU increases to a value corresponding to the top surface of the box CU of the pallet layer PL; however, as described above, in the two-dimensional depth map, the pixel distance value between the boxes CU is limited to indicate the presence of the slider 277 on top of the pallet layer PL. The slider 277 can be removed from the top of the pallet layer PL in a manner substantially similar to that described herein; however, at least one pusher arm does not need to push the pallet layer away from the slider, instead the slider remover 350 can pick up the slider 277 substantially directly from the top of the pallet layer PL.

[0089] The controller 333 is configured to identify / detect the presence of the (bottom) slider 277 based on substantially constant sensor values ​​(see Figure 18A) during the passage of the pallet layer PL through the field of view FOVS. The controller 333 is also configured to identify / detect the absence and / or presence of the (top) slider 277 based on intermittent sensor values ​​(see Figures 18B and 18C) during the passage of the pallet layer PL through the field of view FOVS.

[0090] In other configurations, another scanner (similar to scanner 1405) may be provided above conveyor section 400 to determine the presence of top slide 277, while scanner 1405 also determines the presence of bottom slide. Here, if both top and bottom slides 277 are present, slide remover 350 can remove the top slide in the manner described above, at least one pusher arm can push the pallet layer away from the bottom slide 277, and then slide remover 350 can remove the bottom slide 277 in the manner described herein.

[0091] In the absence of slide 277, the conveying of boxes CU in pallet layer PL in conveying direction 499A is uninterrupted, and the boxes are conveyed by slide removal system 300 without stopping / interruption (Fig. 19, block 1930). With slide 277 present, pallet layer PL is conveyed in direction 499A to the end of conveyor section 400 of bottom slide remover 310 (as described herein), and movement of conveyor section 400 is prevented (e.g., stopped) (Fig. 19, block 1915). Lock 401L is actuated to hold the conveying surface 401 of conveyor section 400 substantially stationary relative to conveying direction 499. As described above, conveying surface 401 has a substantially uniform (e.g., common or steady-state) coefficient of friction. The conveying surface 401 is constructed with a substantially uniform (e.g., common or steady-state) coefficient of friction, such as a continuous / solid rubber-topped (endless) belt 401R, a perforated rubber-topped (endless) belt 401P, and one or more rubber-topped (endless) belts 401C - see Figures 5A-5C, to provide sufficient friction to convey the pallet layer in the conveying direction 499, and to clamp the slide 277 and hold the slide substantially stationary relative to the conveying direction, while keeping the movement of the conveying surface 401 substantially stationary by means of a lock 401L.

[0092] In some configurations (see Figures 5B and 5C), in addition to a substantially uniform (e.g., common or steady-state) coefficient of friction, a suction-type clamping of the slide 277 can also be provided. For example, in the configuration illustrated in Figure 5B, the bottom slide remover 310 may include any suitable vacuum source 555 communicating with the perforations of the perforated rubber top (endless) belt 401P. Actuating the vacuum source 555 to position the pallet layer at the end of the conveyor section 400 and to prevent movement of the conveyor surface 401 in the conveying direction 499A, such that the vacuum source 555 provides suction through the perforations to hold the slide 277 stationarily on the conveyor surface 401. In the configuration illustrated in Figure 5C, the bottom slide remover 310 may include a vacuum source 555 and a deployable suction cup 577. The deployable suction cup is positioned below the plane defined by the conveyor surface 401, through which the pallet layer PL is conveyed by the conveyor section 400. As the movement of the conveyor surface 401 is stopped and the pallet layer PL is positioned at the end of the conveyor section 400 (as described herein), the suction cup 577 is raised to or above the plane defined by the conveyor surface 401 along the Z-axis, such that the suction cup 577 clamps the slide 277 held on the conveyor surface 401.

[0093] As described herein, the pushing surface PF of at least one push rod 435 moves from a waiting position (e.g., distance Y2 - FIG. 9) to a ready lower position (e.g., distance Y3 - FIG. 10). Presence sensor 476 (FIG. 7) determines (using controller 333) that there are no obstructions in area DA, and at least one push rod 435 is pivoted to an extended position to place at least one push rod 435 in the ready pushing position (FIG. 11). At least one push rod 435 moves in the transport direction 499A to contact the pallet layer PL and push the pallet layer in the transport direction 499A, causing the slide 277 to remain substantially stationary relative to the transport direction 499A by at least the transport surface 401, thereby peeling the pallet layer PL from the slide 277. At least one push rod 435 pushes the pallet layer PL from the conveyor section 400 (Fig. 19, block 1920) and substantially onto the support conveyor 330 (for conveying by the self-sliding plate removal system 300), such that the box CU of the pallet layer is pushed away from the sliding plate 277 and the sliding plate 277 is fully exposed.

[0094] The controller 333 commands the slide remover 350 to move the slide holder 351 to the slide. The slide holder 351 clamps the slide 277 and removes the slide 277 from the conveyor section 400 (Fig. 19, block 1925). The slide remover 350 moves the slide holder 351 and the slide 277 therebetween to the slide receiver 1666. The slide holder 351 releases the slide 277 for placement into the slide receiver 1666. As the slide 277 is removed, at least one push rod arm 435 is moved to a waiting position and releases the lock 401L for the conveyor section 400. The actuated conveyor section 400 conveys the next pallet layer received by the slipper removal system 300 in the conveying direction 499A, and the slipper removal system 300 (e.g., controller 333) sends a signal to the palletizer unit 10 for placing the next / another pallet layer PL.

[0095] Referring to Figures 3, 4A, and 4B, the controller 333 monitors the movement of at least one push rod 435 to determine whether at least one push rod 435 pushes the pallet layer over the surface of the slide 277 or over the conveying surface 401 of the bottom slide remover 310. The controller 333 is configured to monitor the movement of at least one push rod by determining the force applied by each actuator 430L of at least one push rod arm 435. For example, based on the weight of the pallet layer PL (as determined by the palletizer unit 10 or by the controller 199C according to the pallet load plan) and the packaging type, the controller 333 determines the magnitude of the torque / force (i.e., the predetermined / expected force) that the actuator 430L should apply to move the pallet layer over the surface of the slide 277. If the torque / force applied by actuator 430L exceeds a predetermined force by a predetermined amount (e.g., tolerance), at least one pusher arm 435 can push the pallet load across the conveyor surface 401 (instead of across the slide surface) and / or the boxes(s) of the pallet layer can adhere to the slide, where at least one pusher arm 435 pushes both the pallet layer PL and the slide 277 across the conveyor surface 401. Here, controller 333 includes a table that informs the coefficient of friction for each type of packaging (e.g., ordinary corrugated cardboard, shrink wrap, glossy printed cardboard, etc.) handled by slide removal system 300. Given the coefficients of friction for different types of packaging, controller 333 is configured to determine the predetermined torque / force, for example, using the following formula:

[0096]

[0097] The units provided here are in parentheses, and EF is the predetermined / expected force in Nm, LW is the pallet layer weight in Kg, G is the acceleration due to gravity (e.g., 9.81 m / s²), and Fc is the coefficient of friction of the packaging. When the controller 333 determines that the actual force of the actuator 430L exceeds the predetermined force by a predetermined amount (tolerance), the controller 333 notifies the operator (e.g., audibly, visually, etc.) and stops the operation of the actuator 430L. The operator can manually retract at least one push rod 435 via the user interface 333U of the controller 333, and the pallet layer PL (with or without slippers) is conveyed through the conveyor section 400 and through the slipper removal system 300. The operator can also command the continuous operation of at least one push rod 435 through the user interface 333U, such as when the actual force applied by the actuator 430L is within the operating limits of the actuator, so that at least one push rod 435 pushes the pallet layer to the support conveyor 330.

[0098] Referring to Figures 1, 3, 4A, 4B, 5A, 5B, 5C, 15B, 16A, 16B, 17A, 17B, 18A, 18B, and 20, a method for unstacking pallet layers PL from stacked pallet loads (PALs) using the LDS (Layer Destacking System) described herein will be described. This method includes placing the destacking pallet layer PL onto a stack placement conveyor 320 (Figure 20, block 2000). As described herein, the stack placement conveyor 320 has a conveying surface 321CS, whose lateral conveying direction 499 traverses (e.g., moves) the placed pallet layer PL across (e.g., away from the stack placement conveyor 320). A slipper detection sensor (such as slipper detector 1400) coupled to the stacking conveyor 320 senses a slipper 277 (FIG. 20, block 2010) in contact with at least one of the uppermost surface PLUS and the bottom surface PLLS of the stacked destapled pallet layer PL, in the manner described herein. A controller 333 receives a signal from the slipper detection sensor indicating the presence of the slipper 277 (FIG. 20, block 2020). The controller 333 determines from the received signal that the slipper 277 is in contact with at least one of the uppermost surface PLUS and the bottom surface PLLS of the stacked destapled pallet layer PL. Above the stacking conveyor 320 and at least partially above the stacking conveyor, the slide remover 310 engages with a slide 277 of at least one of the uppermost surface PLUS and the bottom surface PLLS of the stacked destapled pallet layer PL to remove the slide 277 from the collection conveyor 325 in the manner described herein (FIG. 20, block 2030). Here, as described herein, the controller 333 is operatively connected to the slide remover 310 to actuate the slide remover 310, which engages with the slide 277 of at least one of the uppermost surface PLUS and the bottom surface PLLS, and lifts the slide 277, causing the slide 277 to be discharged from the collection conveyor 325.

[0099] According to one or more of the disclosed embodiments, a stacking and destacking system for self-stacking pallet load unstacking layers includes a stacking platform configured to facilitate the placement of unstacking layers on the stacking platform and having a conveying surface whose conveying lateral direction causes the placed unstacking layers to traverse away from the stacking platform; a slider detection sensor coupled to the stacking platform and configured to sense a slider in contact with at least one of the uppermost and bottom surfaces of the placed unstacking layers; and a slider pick-up and removal mechanism extending at least partially above the stacking platform and configured to facilitate the placement of unstacking layers on the stacking platform. A slide plate engages with at least one of the uppermost and bottom surfaces of the disposed and destabilized stack on the placement platform; and a controller communicatively coupled to a slide plate detection sensor to receive a signal from the slide plate detection sensor identifying the presence of the slide plate, the controller being configured to determine from the received signal that the slide plate is in contact with at least one of the uppermost and bottom surfaces of the disposed and destabilized stack; wherein the controller is operatively connected to a slide plate pickup and removal mechanism to actuate the slide plate pickup and removal mechanism, which engages with the slide plate in contact with at least one of the uppermost and bottom surfaces and lifts the slide plate, causing the slide plate to be discharged from the stack placement platform.

[0100] According to one or more of the disclosed embodiments, the slide pick-up and removal mechanism is mounted on an elevated platform above the platform.

[0101] According to one or more of the disclosed embodiments, the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

[0102] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost surface and the bottom surface of the disposed unloaded stack.

[0103] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack, which is disposed on the conveying surface.

[0104] According to one or more of the disclosed embodiments, the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the placement plane of the conveying surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the placed unloaded stack.

[0105] According to one or more of the disclosed embodiments, the slider detection sensor is an imaging sensor that registers sliders on at least one of the uppermost and bottom surfaces of the disposed and unloaded stack in a direction passing through the placement plane of the disposed and unloaded stack on the conveying surface.

[0106] According to one or more of the disclosed embodiments, the stacking and unstacking system further includes a displacement device movably coupled to the stacking platform and actuated in a direction aligned with the transport lateral direction between the advance position and the retraction position, which displaces the stacked unstacking layer and the slide plate on the bottom surface relative to each other, thereby separating the stacked unstacking layer and the slide plate from each other.

[0107] According to one or more of the disclosed embodiments, the displacement device can be actuated to rise and fall from the engagement and disengagement position to the engagement and disengagement position.

[0108] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are decoupled from each other.

[0109] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are substantially at least partially overlapped.

[0110] According to one or more of the disclosed embodiments, a stacking and destacking system for loading and unloading layers from stacked pallets is provided. This stacking and destacking system includes a stack placement platform configured to facilitate the placement of destacking layers on the stack placement platform and having a conveying surface having a conveying lateral direction for laterally moving the placed destacking layers away from the stack placement platform; a slider detection sensor coupled to the stack placement platform and configured to sense a slider in contact with the placed destacking layer on at least one of the uppermost and bottom surfaces of the placed destacking layer; and a slider pick-up and removal mechanism, at least part of which... Extending above the stacking platform, a slider is configured to engage with at least one of the uppermost and bottom surfaces of the stacked and unstacked layers above the stacking platform; and a controller communicatively coupled to a slider detection sensor so that the slider detection sensor receives a signal identifying the presence of the slider; wherein the controller is operably connected to a slider pick-up and removal mechanism so as to actuate the slider pick-up and removal mechanism, which engages with the slider at least one of the uppermost and bottom surfaces, and lifts the slider based on this signal, causing the slider to be discharged from the stacking platform.

[0111] According to one or more of the disclosed embodiments, the controller is configured to determine, by means of the signal, a slider that contacts at least one of the uppermost and bottom surfaces of the disposed unloaded stack.

[0112] According to one or more of the disclosed embodiments, the slider pickup and removal mechanism is mounted on an elevated platform above the layer.

[0113] According to one or more of the disclosed embodiments, the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

[0114] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost surface and the bottom surface of the disposed unloaded stack.

[0115] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack, which is disposed on the conveying surface.

[0116] According to one or more of the disclosed embodiments, the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the placement plane of the conveying surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the placed unloaded stack.

[0117] According to one or more of the disclosed embodiments, the slider detection sensor is an imaging sensor that registers sliders on at least one of the uppermost and bottom surfaces of the disposed and unloaded stack in a direction passing through the placement plane of the disposed and unloaded stack on the conveying surface.

[0118] According to one or more of the disclosed embodiments, the stacking and unstacking system further includes a displacement device movably coupled to the stacking platform and actuated in a direction aligned with the transport lateral direction between the advance position and the retraction position, which displaces the stacked unstacking layer and the slide plate on the bottom surface relative to each other, thereby separating the stacked unstacking layer and the slide plate from each other.

[0119] According to one or more of the disclosed embodiments, the displacement device can be actuated to rise and fall from the engagement and disengagement position to the engagement and disengagement position.

[0120] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are decoupled from each other.

[0121] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are substantially at least partially overlapped.

[0122] According to one or more of the disclosed embodiments, a method is provided for unloading stacked pallets from stacked pallets using a stacking and destacking system. This method includes placing the destacking stack on a stacking platform having a transport surface having a transport lateral direction for laterally moving the placed destacking stack away from the stacking platform; sensing, using a slider detection sensor coupled to the stacking platform, a slider in contact with at least one of the uppermost and bottom surfaces of the placed destacking stack; and engaging the uppermost surface of the placed destacking stack above the stacking platform using a slider pick-up and removal mechanism that extends at least partially above the stacking platform. The controller comprises: a slider on at least one of the top and bottom surfaces; and a controller communicatively coupled to a slider detection sensor, wherein the slider detection sensor receives a signal identifying the presence of the slider, and the controller determines, based on the received signal, to contact the slider on at least one of the top and bottom surfaces of the disposed and unloaded stacked layer; wherein the controller is operably connected to a slider pick-up and removal mechanism to actuate the slider pick-up and removal mechanism, which engages the slider on at least one of the top and bottom surfaces and lifts the slider, causing the slider to be discharged from the stacked platform.

[0123] According to one or more of the disclosed embodiments, the slider pickup and removal mechanism is mounted on an elevated platform above the layer.

[0124] According to one or more of the disclosed embodiments, the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

[0125] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost surface and the bottom surface of the disposed unloaded stack.

[0126] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack, which is disposed on the conveying surface.

[0127] According to one or more of the disclosed embodiments, the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the placement plane of the conveying surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the placed unloaded stack.

[0128] According to one or more of the disclosed embodiments, the slider detection sensor is an imaging sensor that registers sliders on at least one of the uppermost and bottom surfaces of the disposed and unloaded stack in a direction passing through the placement plane of the disposed and unloaded stack on the conveying surface.

[0129] According to one or more of the disclosed embodiments, the method further includes an actuator movably coupled to a stack placement platform in a direction aligned with the transport lateral direction between the advance position and the retraction position, which displaces the placed unloaded stack and the slides on the bottom surface relative to each other, thereby peeling the placed unloaded stack and the slides apart from each other.

[0130] According to one or more of the disclosed embodiments, the displacement device can be actuated to rise and fall from the engagement and disengagement position to the engagement and disengagement position.

[0131] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are decoupled from each other.

[0132] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are substantially at least partially overlapped.

[0133] According to one or more of the disclosed embodiments, a method for unloading a stacked pallet load from a stacked pallet system is provided. This method includes placing a destabilized stack on a stack placement platform having a transport surface having a transport direction for laterally moving the placed destabilized stack away from the stack placement platform; sensing, using a slider detection sensor coupled to the stack placement platform, a slider in contact with at least one of the uppermost and bottom surfaces of the placed destabilized stack; engaging the slider in contact with at least one of the uppermost and bottom surfaces of the placed destabilized stack above the stack placement platform and by a slider pick-up and removal mechanism extending at least partially above the stack placement platform; and a controller communicatively coupled to the slider detection sensor, wherein the slider detection sensor receives a signal identifying the presence of the slider; wherein the controller is operatively connected to the slider pick-up and removal mechanism to actuate the slider pick-up and removal mechanism, which engages the slider in contact with at least one of the uppermost and bottom surfaces, and lifts the slider based on the signal, causing the slider to be discharged from the stack placement platform.

[0134] According to one or more of the disclosed embodiments, the controller is configured to determine, by a signal, a slider that contacts at least one of the uppermost and bottom surfaces of the disposed unloaded stack.

[0135] According to one or more of the disclosed embodiments, the slider pickup and removal mechanism is mounted on an elevated platform above the layer.

[0136] According to one or more of the disclosed embodiments, the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

[0137] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost surface and the bottom surface of the disposed unloaded stack.

[0138] According to one or more of the disclosed embodiments, the slider detection sensor is configured to sense a slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack, which is disposed on the transport surface.

[0139] According to one or more of the disclosed embodiments, the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the placement plane of the conveying surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the placed unloaded stack.

[0140] According to one or more of the disclosed embodiments, the slider detection sensor is an imaging sensor that registers sliders on at least one of the uppermost and bottom surfaces of the disposed and unloaded stack in a direction passing through the placement plane of the disposed and unloaded stack on the conveying surface.

[0141] According to one or more of the disclosed embodiments, the method further includes an actuating displacement device movably coupled to a stack placement platform in a direction aligned with the transport lateral direction between the advance position and the retraction position, which displaces the placed unloaded stack and the slides on the bottom surface relative to each other, thereby peeling the placed unloaded stack and the slides apart from each other.

[0142] According to one or more of the disclosed embodiments, the displacement device can be actuated to rise and fall from the engagement and disengagement position to the engagement and disengagement position.

[0143] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are decoupled from each other.

[0144] According to one or more of the disclosed embodiments, the retraction of the displacement device and the slide pickup supply of the slide pickup removal mechanism are substantially at least partially overlapped.

[0145] According to one or more of the disclosed embodiments, a stacking and destacking system for loading and unloading layers from stacked pallets is provided. The stacking and destacking system includes: a stack placement platform configured to facilitate the placement of destacking layers on the stack placement platform and having a conveying surface having a conveying lateral direction for laterally moving the placed destacking layers away from the stack placement platform; a slider detection sensor coupled to the stack placement platform and configured to sense a slider in contact with the placed destacking layers on at least one of the uppermost and bottom surfaces of the placed destacking layers; a slider pick-up and removal mechanism extending at least partially above the stack placement platform and configured to facilitate engagement of the slider with at least one of the uppermost and bottom surfaces of the placed destacking layers above the stack placement platform; and a controller communicatively coupled to the slider. The detection sensor includes a height sensor configured to measure the height between the surface of the placed unloaded stack and a predetermined reference point, and to send height measurement data reflecting the height measurement to a controller; the slider detection sensor includes a distance sensor configured to measure distance, wherein the height sensor registers the height measurement and sends distance measurement data reflecting the distance measurement to the controller; and wherein the controller is configured to combine the height measurement data and the distance measurement data to form a two-dimensional depth map depicting the characteristics of the surface, and the controller determines the presence of the slider and the position in contact with at least one of the uppermost and lower surfaces of the placed unloaded stack.

[0146] According to one or more of the disclosed embodiments, the distance sensor is configured to measure distance in the transport lateral direction.

[0147] It should be understood that the foregoing description is merely an illustration of various embodiments disclosed. Those skilled in the art can devise various alternatives and modifications without departing from the various embodiments disclosed. Therefore, the various embodiments disclosed are intended to encompass all such alternatives, modifications, and variations falling within the scope of any of the claims appended herein. Furthermore, the mere fact that different features are mentioned in mutually different subsidiary or independent claims does not indicate that combinations of these features cannot be used advantageously, and such combinations remain within the scope of the various embodiments disclosed.

[0148] []

[0149] 10: Palletizer Unit 10A: Palletizer Unit 10B: Palletizer Unit 10C: Controller 14: Automated Box Manipulator 14R: Lifting component / Support component 14T1: Target 14T2: Target 14T3: Target 14T4: Target 18: Box Unit 100: Storage and Retrieval System 100WS: Warehouse System 110: Autonomous vehicle transport robotic arm 130: Storage Structure Array 130A: Storage Aisle 130B: Conveying Platform 130SL: Storage Location 142: Box Unit Inspection Unit 150: In / Out Box Conveyor 150A: In / Out Box Conveyor 150B: In / Out Box Conveyor 150C: In / Out Box Conveyor 160: Discharge Conveyor Station 170: Feed Conveyor Station 175: Area 175C: Pallet Conveyor 180: Pallet unloading area 180C: Conveyor 199: Warehouse Management System 199C: Controller 200: Predetermined Level 250: Pallet load 277: Slider 277UC: Upper Surface 277US: Top surface 300: Bottom slider detection and removal system 301: Pallet Unloading / Load Station 310: Bottom slider remover 320: Layer placement conveyor 321: Top Conveyor Belt 321CS: Conveying Surface 325: Collector Conveyor 326: Top Conveyor Belt 326CS: Conveying Surface 330: Support Conveyor 331: Cartridge Conveyor Section 331B: Overhead Conveyor Belt 333: Controller 333U: User Interface 350: Slider Remover 351: Slider Clamp 355: Rack 356: Column / Support Component 370: Elevated gantry 371: Gantry Carriage 371L: Linear Actuator 372: Z-axis carriage 372L: Linear Actuator 373: Y-axis carriage 373L: Linear Actuator 387: Suction Hole 388: Vacuum Source 390: Gap 400: Conveyor Section 401: Conveying surface 401C: Top (Endless) Belt 401L: Lock 401M: Motor 401P: Top (Endless) Belt 401R: Top (Endless) Belt 420: Putter 430: Car Moving Platform 430C: Carriage 430CD: Drive 430L: Linear Actuator 435: Push rod 476: Presence sensor 477: Presence Sensor 485: Gap 495: Direction 498: Rack 498A: Rack 498B: Rack 498C: Rack 498S: Subrack 499: Direction 499A: Conveying direction 499B: Conveying direction 555: Vacuum Source 577: Suction Cup 801: Stop surface 802: Stop surface 1001: Position / Proximity Sensor 1002: Position / Proximity Sensor 1400: Sliding plate detector 1405: Scanner 1410: Lens 1411: Pivot axis 1450: Installation components 1450X: X-axis test bench 1450Y: Y-axis test bench 1450Z: Z-axis test bench 1460: Air Knife 1461: Air Knife 1599: Encoder 1600: Distance 1666: Sliding plate container 1700: Distance CU: Pallet Loading Unit DA: Region DP: Reference plane FOVP: Vision FOVS: Vision IP: Input path of the box unit Op: Box Output Path LAT1: Lateral side LAT2: Lateral side LDS: Stacking and Unloading System PAL: Pallet Load PF: Driving surface PL: Pallet layer PL1: Pallet Layer PL2: Pallet layer PL3: Pallet Layer PL4: Pallet layer PL5: Pallet Layer PLLS: Bottom Surface PLUS: top surface SL1: Stacking Sn: Stacking SP: Placement Plane V1: Verification Area V2: Verification Area V3: Verification Area V4: Verification Area

Claims

1. A stacking unstacking system for unstacking layers loaded from stacked pallets, the stacking unstacking system comprising: a stack placement platform configured to facilitate placement of the unstacking layer on the stack placement platform, and having a conveying surface having a conveying lateral direction for laterally moving the placed unstacking layer away from the stack placement platform; A slider detection sensor is coupled to the layer placement platform and configured to sense a slider that is in contact with the placed destashed layer on at least one of the uppermost and bottom surfaces of the placed destashed layer. A slider pick-up and removal mechanism extends at least partially above the stacking platform and is configured to engage a slider on the stacking platform to contact either the uppermost or lower surface of the stacked destapled layer; and a controller communicatively coupled to the slider detection sensor to receive a signal from the slider detection sensor that identifies the presence of the slider, the controller being configured to determine, based on the received signal, the slider to contact at least one of the uppermost or lower surface of the stacked destapled layer. The controller is operably connected to the slide pick-up and removal mechanism to actuate the slide pick-up and removal mechanism, which engages with the slide on one of the uppermost and lower surfaces and lifts the slide, causing the slide to be discharged from the layer placement platform.

2. The stack unloading system of claim 1, wherein the slide pick-up and removal mechanism is located on an elevated platform above the stack placement platform.

3. The stacking and unloading system of claim 1, wherein the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

4. The destacking system of claim 1, wherein the slide detection sensor is configured to sense a slide on at least one of the uppermost and bottom surfaces of the disposed destacking layer.

5. The stacking and unloading system of claim 1, wherein the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the mounting plane of the conveyor surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the mounted unloaded stack.

6. The stacking and unloading system of claim 1, wherein the slide detection sensor is an imaging sensor that registers the slide on at least one of the uppermost and bottom surfaces of the stacked and unloaded stack in a direction passing through the mounting plane of the stacked and unloaded stack disposed on the transport surface.

7. The stacking and unstacking system of claim 1 further includes a displacement device movably coupled to the stacking platform and actuated in a direction aligned with the transport lateral direction between the advance position and the retracted position, which displaces the stacked unstacking layer and the slide on the bottom surface relative to each other, thereby separating the stacked unstacking layer and the slide from each other.

8. A stacking unstacking system for unstacking layers loaded from stacked pallets, the stacking unstacking system comprising: a stack placement platform configured to facilitate placement of the unstacking layer on the stack placement platform, and having a conveying surface having a conveying lateral direction for laterally moving the placed unstacking layer away from the stack placement platform; A slider detection sensor is coupled to the layer placement platform and configured to sense a slider that is in contact with the placed destapled layer on at least one of the uppermost and bottom surfaces of the placed destapled layer. The slider pick-up and removal mechanism extends at least partially above the layer placement platform and is configured to facilitate engagement of the slider with at least one of the uppermost and bottom surfaces of the placed, unstacked layer above the layer placement platform. The controller is communicatively coupled to the slider detection sensor so that the slider detection sensor can receive a signal that identifies the presence of the slider; The controller is operably connected to the slide pick-up and removal mechanism to actuate the slide pick-up and removal mechanism, which engages with the slide on at least one of the uppermost and bottom surfaces, and lifts the slide based on the signal, causing the slide to be discharged from the layer placement platform.

9. The destacking system of claim 8, wherein the controller is configured to determine, by the signal, to contact at least one of the uppermost and bottom surfaces of the disposed destacking layer.

10. The stacking and unloading system of claim 8, wherein the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

11. The destacking system of claim 8, wherein the slide detection sensor is configured to sense the slide on at least one of the uppermost and bottom surfaces of the disposed destacking layer.

12. The stacking and unloading system of claim 8, wherein the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the mounting plane of the conveyor surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the mounted unloaded stack.

13. The stacking and unloading system of claim 8, wherein the slide detection sensor is an imaging sensor that registers the slide on at least one of the uppermost and bottom surfaces of the stacked and unloaded stack in a direction passing through the mounting plane of the stacked and unloaded stack disposed on the transport surface.

14. The stacking and unstacking system of claim 8 further includes a displacement device movably coupled to the stacking platform and actuated in a direction aligned with the transport lateral direction between the advance position and the retracted position, which displaces the stacked unstacking layer and the slide on the bottom surface relative to each other, thereby separating the stacked unstacking layer and the slide from each other.

15. A method for unloading a stacked pallet load from a stacked pallet using a stacking unloading system, the method comprising: placing the unloaded pallet on a stacking platform, wherein the stacking platform has a conveying surface having a conveying traverse direction for laterally moving the placed unloaded pallet away from the stacking platform; Using a slider detection sensor coupled to the stacking platform, a slider that is in contact with the stacked unstacked layer on at least one of the uppermost and bottom surfaces of the stacked unstacked layer is sensed. The slide, which is above the stacking platform and at least partially extended above the stacking platform, engages with at least one of the uppermost and bottom surfaces of the stacked unstacked layer. A controller is communicatively coupled to the slider detection sensor, which receives a signal from the slider detection sensor to identify the presence of the slider, and the controller determines, based on the received signal, to contact the slider on at least one of the uppermost and bottom surfaces of the disposed unstacked layer. The controller is operably connected to the slide pick-up and removal mechanism to actuate the slide pick-up and removal mechanism, which engages with the slide on at least one of the uppermost and bottom surfaces, and lifts the slide, causing the slide to be discharged from the layer placement platform.

16. The method of claim 15, wherein the slide pick-up and removal mechanism is mounted on an elevated platform above the floor.

17. The method of claim 15, wherein the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

18. The method of claim 15, wherein the slider detection sensor is configured to sense the slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack.

19. The method of claim 15, wherein the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the mounting plane of the conveyor surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the mounted unloaded stack.

20. The method of claim 15, wherein the slider detection sensor is an imaging sensor that registers the slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack in a direction passing through the placement plane of the disposed unloaded stack on the transport surface.

21. The method of claim 15 further includes an actuator movably coupled to the stack placement platform in a direction aligned with the transport lateral direction between the advance position and the retraction position, which displaces the placed unloaded stack and the slide on the bottom surface relative to each other, thereby separating the placed unloaded stack and the slide from each other.

22. A method for unloading a stacked pallet load from a stacked pallet using a stacking unloading system, the method comprising: placing the unloaded pallet on a stacking platform, wherein the stacking platform has a conveying surface having a conveying traverse direction for laterally moving the placed unloaded pallet away from the stacking platform; Using a slider detection sensor coupled to the stacking platform, a slider that is in contact with the stacked unstacked layer on at least one of the uppermost and bottom surfaces of the stacked unstacked layer is sensed. The slide, which is above the stacking platform and at least partially extended above the stacking platform, engages with at least one of the uppermost and bottom surfaces of the stacked unstacked layer. A controller is connected to the slider detection sensor via a communication ground, and the slider detection sensor receives a signal that identifies the presence of the slider; The controller is operably connected to the slide pick-up and removal mechanism to actuate the slide pick-up and removal mechanism, which engages with the slide on at least one of the uppermost and bottom surfaces, and lifts the slide based on the signal, causing the slide to be discharged from the layer placement platform.

23. The method of claim 22, wherein the controller is configured to determine, by the signal, to contact the slide of at least one of the uppermost and bottom surfaces of the disposed unloaded stack.

24. The method of claim 22, wherein the slide pick-up and removal mechanism has a pick-up head that engages with the upper surface of the slide.

25. The method of claim 22, wherein the slider detection sensor is configured to sense the slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack.

26. The method of claim 22, wherein the slider detection sensor is an electromagnetic beam sensor configured to radiate a sensing beam in a direction passing through the mounting plane of the conveyor surface, so as to sense the slider on at least one of the uppermost and bottom surfaces of the mounted unloaded stack.

27. The method of claim 22, wherein the slider detection sensor is an imaging sensor that registers the slider on at least one of the uppermost and bottom surfaces of the disposed unloaded stack in a direction passing through the placement plane of the disposed unloaded stack on the transport surface.

28. The method of claim 22 further includes an actuating displacement device movably coupled to the stack placement platform in a direction aligned with the transport lateral direction between the advance position and the retraction position, which displaces the placed unloaded stack and the slide on the bottom surface relative to each other, thereby separating the placed unloaded stack and the slide from each other.

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