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