The Piece picking system is mainly composed of feeder, separation conveyor and visual recognition system. It is typically at the input stage of the automatic sorting system and is used to queue up packages to facilitate subsequent code scanning and sorting. The 3D camera of the visual recognition system looks down at the feeder and the separation conveyor, recognizes the size and spatial position of the object in real time, calculates and controls the speed difference of the motors of different units to realize the separation, pulling and queuing of packages. As a result, messy packages can enter the subsequent high-speed automatic sorting line in a single row according to the specified interval. At present, it has been deployed on a large scale among leading industry customers and is being popularized throughout the industry.