Mixed Pallet Pattern

The minimum width (mm) of the gap between boxes. To avoid collisions, the measured dimensions of the box should be smaller than the actual dimensions. Recommended value: 10 mm–20 mm

Description: If a prior corner is selected, the box will be stacked in that corner first. The corner will change along with the pallet pose.

Unselected by default, i.e., the object cannot be placed by dropping.

Once this option is selected, when the held carton is a certain distance away from the placing position in the Z-direction, it can be dropped directly.

In the figure below, Z denotes the Drop Height, and a denotes the Drop Safe Margin.

Unselected by default. When the dimensions of the entire object cannot be obtained by just one image-capturing, and a second one is needed, this parameter can be selected.

When the carton is picked via Vision Move and there is no height information of the carton, the height of the carton will be estimated for the planning of the mixed-case palletizing. When the workflow executes to this Step with the “Capture Twice to Update Carton Size” option selected, the height of the box can be obtained by capturing an image for the second time. Then the complete carton dimensions will be used for the planning of mixed-case palletizing.

Unselected by default, i.e., do not enable this feature.

This feature applies to scenarios where tags are attached to the sides of the boxes and the tags must be exposed to the outside of the stack.

Max Dist From Tag To Pallet Boundary: The maximum distance between the box side where the tag is attached to the edge of the pallet.

The allowable width that exceeds the edge of the stack. Recommended value: 0.02 m–0.05 m

The maximum ratio of the upper box’s bottom surface area exceeding the surface under it to the total area of its bottom surface.

When the dimensions of the boxes on the top layer are larger than the boxes placed on the lower layer, the larger box is allowed to be placed on a plane with a height difference less than the value of this parameter.

The sampling rate for box position planning (sample/meter). The higher the sampling rate, the more accurate the result. However, more calculation speed will be slower. Recommended value: 200, 500, 1000

The angle between the box entry path and the side of an adjacent box on the pallet’s projection plane.

If the set value is too large, a U-shaped blank area may be left after the palletizing. If the set value is too small, collisions with adjacent boxes may occur.

Recommended value: 15°–30°

The mid point here is the midpoint between two corners of the box. When a hollow is formed in the stack, the boxes can be inserted vertically into the hollow.

When finding the entry angle of a corner, check if a given angle is free of collision on the projected XOY plane within a radius of this value.

Height difference between vacuum gripper bottom surface and the bottom surface of the second joint from the bottom of the robot.

When the box is inserted to the candidate positions determined by the mid point, the minimum width of gap between adjacent boxes.

If the robot motion error and box dimension error is small, this parameter can be set to a value that is smaller than the set Gap Width, which significantly enhances the flexibility or efficiency of stacking when operating in Online mode, especially when placing a box in the middle of the stack. When the Mid Point Safe Gap is greater than the originally set Gap Width, the planning becomes infeasible. The smaller the Mid Point Safe Gap, the more available placing poses.

The greater the value, the candidate positions where the box has more contact with the sides of adjacent boxes in the stack are more likely to be selected.

The greater the value, the candidate positions where the bottom surface of the box has more contact with the upper surface of the boxes under it (i.e., larger support area) are more likely to be selected.

The base height refers to the height difference between the bottom surface of the box to be placed and the pallet in the Z direction. The greater the value, the lower the target position, and the box tends to be placed on a lower plane.

The greater the value, the positions with a shorter distance projected on the pallet diagonal to the prior corner are more likely to be selected.

The greater the value, the positions where more boxes are under the box to be placed are more likely to be selected. The greater the value, the stabler the stack. However, the boxes in the stack may be less compact.

The greater the value, the box with the larger bottom surface is more likely to be picked first.

The greater the value, the closer the carton will be placed to the edge of the pallet.

The minimum width (mm) of the gap between boxes.

To avoid collisions, the measured dimensions of the box should be smaller than the actual dimensions.

Recommended value: 0.01 m–0.02 m

Description: If a prior corner is selected, the box will be stacked in that corner first. The corner will change along with the pallet pose.

Description: Specify the index of the currently viewed pallet. Default value: -1

An error message will pop up if the input box length is less than the value of this parameter. When the boxes are relatively small, the planning time for offline mixed-case palletizing will be longer. Setting this parameter can avoid an overly long computation time caused by the mistakenly input box length.