Automatic lines or robotic work cells are often fed by a robot whose task is to pick up the products, to be processed, from a container. Due to the nature of the production processes of origin or other product characteristics sometimes, components are arranged in bulk in a container / bin. Thanks to the help of a 3D vision system, it is possible to coordinate the robot gripping operations (bin picking) and grant 100% bin discharge. These systems satisfy the Industry 4.0 requirements.