CPC B65G 47/5104 (2013.01) [B65G 47/912 (2013.01); B65G 47/917 (2013.01); G06T 7/70 (2017.01)] | 20 Claims |
1. A picking device, comprising:
a feed device comprising a receiving area extending in X and Y directions of the picking device;
a first recording device disposed above the feed device in a Z direction orthogonal to the X and Y directions;
a second recording device disposed at a side of the feed device in the Y direction;
a conveyor comprising a gripper rotatable about a Z axis; and
a control device coupled to the first and second recording devices and the conveyor, the control device configured to have the gripper pick one of a plurality of piece goods based on one or more images from the first recording device, to have the second recording device take a first image of the picked piece good, to have the gripper rotate the picked piece good by a predetermined angle about the Z axis, and to have the second recording device take a second image of the picked piece good.
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