Object ordering

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

  • Highest pick: Sort objects by their pick point location, from largest to smallest ROI frame Z-coordinate.

  • Highest object point: Sort objects by the highest detected point.

  • Largest product (Flex only): Objects are sorted from big to small volume or surface.

  • Highest matching score (Teach only): Sort objects with the highest model matching score first.

  • Axis Sweep: An axis sweep orders objects according to the value along the selected direction.

Axis Sweep ordering of three side-by-side parts A, B, C: ROI +X axis gives A, B, C; -X gives C, B, A; +Y gives B, A, C; -Y gives C, A, B

  • 2D Pattern sweep: A 2D pattern sweep orders objects by performing a pattern that advances along the selected direction.

2D Pattern sweep ordering of five parts A to E: ROI +X axis gives C, A, D, B, E; -X gives E, D, B, C, A; +Y gives C, D, E, A, B; -Y gives A, B, E, C, D

The Axis Sweep and 2D Pattern Sweep ordering strategies are useful for depalletization and other semi-structured picking applications.