Pick Single Carton + Single Rect Suction Cup

The parameters are shown below.

../../../../../_images/depallet_vacuum_gripper_1_parameter.png

Suction Cup Config

Single Rect Suction Cup Config Path

Click icon_path to select the suction cup configuration file. You can use the Depalletizing Vacuum Gripper to configure the suction cups and output a configuration file in JSON format.

Offset Setting

Offset Strategy
Center Prior: A picking pose without offset (the centers of the suction cup and the carton coincide) will be prioritized in path planning. If the software fails to plan a path, other picking poses with offsets will be tried.
Corner Prior: A picking pose with offset will be prioritized in path planning, and poses without offset will be tried last.
Corner Alignment Only: Picking poses without offsets will not be considered in path planning.
Center Prior is applicable to mixed case depalletizing to avoid collisions. If the cartons do not need to be stacked on a pallet after being picked (e.g., just need to be placed on a conveyor belt), this offset strategy is not necessary.
Sort by Distance to Reference Point - Reference Point X/Y
Instruction: You need to set a reference point if you want to enable this parameter, and the robot will prioritize picking poses of which the suction cup is close to the reference point. This setting and the object symmetry settings cannot be enabled at the same time.
Example:
As shown in the figure below (top view perspective), the green rectangles represent cartons, and the gray rectangles represent suction cups. There are four picking strategies in total.
../../../../../_images/picking_strategy.png
The reference point is in the lower left corner to the carton, and the relative position of the reference point and the carton is fixed. Picking poses of which the suction cup is nearest to the reference point will be tried first.
Therefore, the picking poses in the figure below will be tried in the order of 2 ‣ 1 ‣ 4 ‣ 3.
../../../../../_images/picking_strategy_sequence1.png
../../../../../_images/picking_strategy_sequence2.png
../../../../../_images/picking_strategy_sequence3.png
../../../../../_images/picking_strategy_sequence4.png
Keep Only High Priority Offset—Max Plan Results Count
Instruction: The default setting is 2. Please set the count according to the total planning results when a reference point is introduced.
Example: If this option is enabled, only planning results No. 2 and No. 1 in the above example will be kept.
Fixed Edge Corner Offset—Fixed Edge Corner Offset
Enter the edge corner label numbers.
The numbering rules of the edge/corner: The first digit of the label number indicates the number of the suction cup, and the second digit of the label number indicates whether it is an edge or corner, where 1, 3, 5, and 7 represent the corner and 2, 4, 6, and 8 represent the edge. 0 represents the center of the suction cup.
../../../../../_images/edge_corner.png

Please refer to Offset Strategy for detailed information.

Avoid Picking on the Same Pose

This parameter group is mainly used to avoid picking with the same picking pose in scenarios where the object cannot be picked successfully.

Decreased Priority Range Radius Upper Limit
Default setting: 0
Description: If the distance between the current pick point and the most recently tried pick point is less than this value, the two pick points will be considered the same one and the priority for picking will be downgraded.
Discard Range Radius Upper Limit
Default setting: 0
Description: If the distance between the current pick point and the most recently tried pick point is less than this value, the pick point will be discarded for picking.
Example: For example, if the robot only moves the workpiece but fails to pick it in the first attempt, there is a possibility of successful picking in the next attempt. In this case, Decreased Priority Range Radius Upper Limit can be set to decrease the priority for picking the workpiece, while the object pose will be kept. When the robot fails to move the workpiece at all in the first attempt, it is highly unlikely that the workpiece can be picked successfully in the next attempt, and therefore Discard Range Radius Upper Limit can be set to discard the pose directly.
Max Length of Avoidance List
Default setting: 1
Description: The maximum length of the avoidance list.
Example: Assuming that the value is set to 2 and Mech-Vision outputs 3 poses, when pose 1 is used and the picking fails, pose 1 will be recorded. Pose 2 will also be recorded if the picking fails. However, when pose 3 is recorded, pose 1 will be discarded and only pose 2 and pose 3 will be kept in the avoidance list.
Avoidance Type
Workobject pose: Record the pose of the workobject. If the object has 3 pick points, and one of them was recorded as used during a failed picking, the rest two will not be included in the avoidance list.
Workobject: Record the workobject. If the object has 3 pick points, and one of them was recorded as used during a failed picking, the rest two will be included in the avoidance list as well and the object will not be prioritized for picking next time.

Picking Count

This parameter group is used to count the picked objects and calculate the rest objects to be picked. Once you enter an Expected Picking Count, the Total Picked Object Count and Current Picked Object Count will be calculated automatically.

Expected Picking Count

The maximum number of picked objects.

Total Picked Object Count

The number of picked objects, which is counted automatically and cannot be modified.

Current Picked Object Count

The number of the currently picked object, which is counted automatically and cannot be modified.