Included are a chute arranged in an inclined manner to allow sorting targets to flow downward, optical detection means for detecting the sorting targets at a detection position, and ejector means for sorting and removing the sorting targets based on a result of detection of the optical detection means. The chute is provided with an optical detection slit in a direction orthogonal to a flow-down direction of the sorting targets, a slit width of the optical detection slit is adjustable, and the optical detection means images the sorting targets flowing downward on the chute with the imaging means at a position where the optical detection slit is provided as the detection position.

The present invention relates to a picking cell for a job-related automated picking of goods that can remove different goods from supply bins and can transfer them into an output bin in an automated manner, said picking cell comprising: an object detection device for detecting the goods in a supply bin; a gripper for removing the goods from a supply bin; and a cell control for evaluating the data of the object detection device and for a path planning and a control of the gripper, wherein the cell control controls the gripper such that different goods of a job or of a partial job are placed at a predefined position and/or with a predefined orientation in the output bin.

Included are a chute arranged in an inclined manner to allow sorting targets to flow downward, optical detection means for detecting the sorting targets at a detection position, and ejector means for sorting and removing the sorting targets based on a result of detection of the optical detection means. The chute is provided with an optical detection slit in a direction orthogonal to a flow-down direction of the sorting targets, a slit width of the optical detection slit is adjustable, and the optical detection means images the sorting targets flowing downward on the chute with the imaging means at a position where the optical detection slit is provided as the detection position.

The present invention relates to a picking cell for a job-related automated picking of goods that can remove different goods from supply bins and can transfer them into an output bin in an automated manner, said picking cell comprising: an object detection device for detecting the goods in a supply bin; a gripper for removing the goods from a supply bin; and a cell control for evaluating the data of the object detection device and for a path planning and a control of the gripper, wherein the cell control controls the gripper such that different goods of a job or of a partial job are placed at a predefined position and/or with a predefined orientation in the output bin.

The present invention discloses a novel color based optical grading system with multi-reflectance and multi-angle views for grading objects of different external characteristics, and a novel color based optical grading method for grading objects based on different external characteristics. The system comprises of: multiple advanced optics units and at least one master controller. Each optics unit comprises of multiple programmable cameras, multiple spectral light sources, multiple adjustable mirrors/prisms, a mirror/prism adjustment assembly to ensure the enhanced surface analysis of the objects; at least one backlighting domes to provide uniform backlight for capturing objects in multi-reflection and multi-angle views and at least one image processing unit for processing images of each objects. The system is capable of not only identifying the type or color grade of individual object with enhanced accuracy, but is also efficient in analyzing different objects based on external characteristics like different sized objects are analyzed due to functioning of multiple adjustable mirrors or prisms. The system is automated and accurate color grading system which is capable of not only analyzing all possible color variations of any object, but is also capable of analyzing all other possible external characteristics.

The present invention discloses a novel color based optical grading system with multi-reflectance and multi-angle views for grading objects of different external characteristics, and a novel color based optical grading method for grading objects based on different external characteristics. The system comprises of: multiple advanced optics units and at least one master controller. Each optics unit comprises of multiple programmable cameras, multiple spectral light sources, multiple adjustable mirrors/prisms, a mirror/prism adjustment assembly to ensure the enhanced surface analysis of the objects; at least one backlighting domes to provide uniform backlight for capturing objects in multi-reflection and multi-angle views and at least one image processing unit for processing images of each objects. The system is capable of not only identifying the type or color grade of individual object with enhanced accuracy, but is also efficient in analyzing different objects based on external characteristics like different sized objects are analyzed due to functioning of multiple adjustable mirrors or prisms. The system is automated and accurate color grading system which is capable of not only analyzing all possible color variations of any object, but is also capable of analyzing all other possible external characteristics.