PICKING METHOD AND PICKING DEVICE

摘要

The invention relates to a picking method using an automatic picking device, wherein at least one first item (12a) to be picked is conveyed from a source loading device (10) into a target loading device (14) by means of a gripping device (58) and wherein the following steps are provided: receiving the first item in the source loading device; calculating an intended depositing position (56) for the first item in the target loading device, wherein the intended depositing position adjoins a boundary of the target loading device and/or at least one second item (12c) already in the target loading device; moving the first item to an interim position (57) which is obtained from the calculated intended depositing position in the target loading device and a safe distance from the boundary of the target loading device and/or at least one second item already in the target loading device; and proceeding from the interim position, moving the first item in the direction of the intended depositing position until the intended depositing position is reached or until the movement is stopped at an actual depositing position as the first item strikes the boundary of the target loading device and/or strikes the second item.