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The transition process.

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The purpose of the transition process at Solvang’s Paper Mill Warehouse

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is to move the paper reels from the Sorting Area to the Loading Docks.

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Robots from Mindstorm Robotics move the paper reels – one per transition area.

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The transition process consists of seven functions.

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Function one: Detect.

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The robot uses Ultrasonic Sensor A to detect when a paper reel is ready to be picked up.

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Function two: Move.

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When the robot detects a reel, the two large motors move the robot straight to it.

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Function three: Get.

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Medium Motor A closes the Gripper.

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Function four: Track.

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Control Unit A uses Wi-Fi to request the Database for the distance,

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and the application converts the distance to the number of degrees the wheels must rotate,

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to bring the robot just short of the red line.

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The robot tracks by using Color Sensor A in “Reflected Light Intensity Mode”.

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The robot moves straight when the reflected light is 50 %.

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It turns to the left by increasing power to Large Motor A and decreasing power to Large Motor B

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if the reflected light is below 50 %, and to the right if it is above.

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In this way, the robot tracks the left edge of the black line.

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Function five: Scan.

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Shortly before the red line, when Large Motor B has rotated the requested number of degrees,

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Color Sensor A switches from “Reflected Light Intensity Mode” to “Color Mode”.

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The robot moves straight until Color Sensor A recognizes the red line.

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The robot emergency stops if Color sensor A does not detect the red line

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before the wheels have rotated 360 degrees.

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Function six: Rotate.

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The robot stops and rotates 180 degrees using Gyro Sensor A and the Large Motors.

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Function seven: Drop off.

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The robot releases the paper reel.

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Function four: Track.

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The robot returns to starting position.

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Function six: Rotate.

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The robot is now ready for the next paper reel.