WEBVTT

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The sorting process.

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Description of the sorting process in the Paper Mill Warehouse, and how the paper reels get sorted by color.

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Paper reels are sorted by sorting robots – one per each sorting area.

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The sorting process consists of eight functions.

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Function one: Detect.

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Conveyor belts move the paper reels from the production area to the warehouse.

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Ultrasonic sensor A detects when a paper reel is ready to be picked up.

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Function two: Move forward.

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The two large motors move the robot in a straight line when the robot detects a reel.

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Function three: Get.

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Medium motor A closes the Gripper.

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Function four: Scan.

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Color sensor A detects the color of the reel.

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Function five: Move backwards.

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The robot returns to starting position.

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Function six: Rotate out.

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Control unit A uses Wi-Fi to access the central Database to get the angle

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and distance for the color of the reel that has been detected.

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The robot then uses Gyro sensor A with the received angle to rotate accordingly.

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Large Motor A’s built-in rotation sensor registers how many degrees the wheel is rotating.

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These degrees are used instead of input from Gyro sensor A

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when the robot rotates back to starting position, because this is more accurate.

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If no color is detected, the robot rotates to the white area.

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Function two: Move forward.

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The robot moves straight for the distance received from the Database.

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Function seven: Drop off.

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Medium motor A releases the reel.

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A reel must be placed entirely within an area, because the later process otherwise gets stuck.

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Function five: Move backwards.

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The large motors move the robot back to the center position.

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Function eight: Rotate back.

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The robot rotates back to the starting position.

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It is now ready to sort the next paper reel.