The transition process.
The purpose of the transition process at Solvang’s Paper Mill Warehouse
is to move the paper reels from the Sorting Area to the Loading Docks.
Robots from Mindstorm Robotics move the paper reels – one per transition area.
The transition process consists of seven functions.
Function one: Detect.
The robot uses Ultrasonic Sensor A to detect when a paper reel is ready to be picked up.
Function two: Move.
When the robot detects a reel, the two large motors move the robot straight to it.
Function three: Get.
Medium Motor A closes the Gripper.
Function four: Track.
Control Unit A uses Wi-Fi to request the Database for the distance,
and the application converts the distance to the number of degrees the wheels must rotate,
to bring the robot just short of the red line.
The robot tracks by using Color Sensor A in “Reflected Light Intensity Mode”.
The robot moves straight when the reflected light is 50 %.
It turns to the left by increasing power to Large Motor A and decreasing power to Large Motor B
if the reflected light is below 50 %, and to the right if it is above.
In this way, the robot tracks the left edge of the black line.
Function five: Scan.
Shortly before the red line, when Large Motor B has rotated the requested number of degrees,
Color Sensor A switches from “Reflected Light Intensity Mode” to “Color Mode”.
The robot moves straight until Color Sensor A recognizes the red line.
The robot emergency stops if Color sensor A does not detect the red line
before the wheels have rotated 360 degrees.
Function six: Rotate.
The robot stops and rotates 180 degrees using Gyro Sensor A and the Large Motors.
Function seven: Drop off.
The robot releases the paper reel.
Function four: Track.
The robot returns to starting position.
Function six: Rotate.
The robot is now ready for the next paper reel.