Object ordering

When multiple objects are detected, object ordering determines the order in which they should be picked. The following strategies are available:

  • Highest product: Sort objects by their pick point location, from largest to smallest reference frame Z-coordinate. This is the most common option.
  • Lowest product: The reverse order of ‘Highest product’.
  • Highest product part: Sort objects by the highest detected point.
  • Lowest X: Sort objects by their pick point location, from smallest to largest reference frame X-coordinate.
  • Highest X: The reverse order of ‘Lowest X’.
  • Lowest Y: Sort objects by their pick point location, from smallest to largest reference frame Y-coordinate.
  • Highest Y: The reverse order of ‘Lowest Y’.
  • Largest product (Flex only): Objects are sorted from big to small volume or surface.
  • Pattern along the positive X-axis: See image below.
  • Pattern along the negative X-axis: See image below.
  • Pattern along the positive Y-axis: See image below.
  • Pattern along the negative Y-axis: See image below.
  • Highest matching score (Teach only): Sort objects with the highest model matching score first.
  • Top box first (Flex only): Sort objects with the highest product center first, but if multiple sides of a box are recognized, the largest side is prefered.

The pattern sort options are useful for depalletization or pallet loading applications. The picture below illustrates each option:

../../_images/Object-ordering-pattern.png