The sorting process.
Description of the sorting process in the Paper Mill Warehouse, and how the paper reels get sorted by color.
Paper reels are sorted by sorting robots – one per each sorting area.
The sorting process consists of eight functions.
Function one: Detect.
Conveyor belts move the paper reels from the production area to the warehouse.
Ultrasonic sensor A detects when a paper reel is ready to be picked up.
Function two: Move forward.
The two large motors move the robot in a straight line when the robot detects a reel.
Function three: Get.
Medium motor A closes the Gripper.
Function four: Scan.
Color sensor A detects the color of the reel.
Function five: Move backwards.
The robot returns to starting position.
Function six: Rotate out.
Control unit A uses Wi-Fi to access the central Database to get the angle
and distance for the color of the reel that has been detected.
The robot then uses Gyro sensor A with the received angle to rotate accordingly.
Large Motor A’s built-in rotation sensor registers how many degrees the wheel is rotating.
These degrees are used instead of input from Gyro sensor A
when the robot rotates back to starting position, because this is more accurate.
If no color is detected, the robot rotates to the white area.
Function two: Move forward.
The robot moves straight for the distance received from the Database.
Function seven: Drop off.
Medium motor A releases the reel.
A reel must be placed entirely within an area, because the later process otherwise gets stuck.
Function five: Move backwards.
The large motors move the robot back to the center position.
Function eight: Rotate back.
The robot rotates back to the starting position.
It is now ready to sort the next paper reel.