METHOD FOR CONTINUOUSLY DETERMINING A GRIPPING POSITION

摘要

The invention relates to a method and a device for continuously determining a gripping position (18) of unorganized piece goods (2), wherein in the event of a relative motion (4) between the piece goods (2) and a detection device (23), the detection device (23), which acts without contact, detects a geometry of the piece goods (2) and determines the spatial orientation of the piece goods (2) from the detected geometry. A gripping position for a gripping means (17) of a gripping device (6) for receiving the piece goods (2) is determined from the spatial orientation. For this purpose, the method comprises in particular a packet formation step, a model comparison step, and a selection step.