WEBVTT


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The loading process.


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The purpose of the loading process at Solvang’s Paper Mill Warehouse is to load paper reels onto trucks.


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The loading of paper reels is handled by robots – one per each loading dock.


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The loading process consists of seven functions.


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Function one: Scan.


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The driver scans the delivery order.


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White indicates that the scan is completed.


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Function two: Rotate out.


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Control unit A, uses Wi-Fi to request the database for the angle to the first paper reel.


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Control unit A, activates the large motors and Gyro sensor A, to rotate the robot.


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The build-in rotation sensor of Large motor A, registers how many degrees the motor and therefore the left wheel has rotated.


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This rotation is used instead of input from Gyro Sensor A, when the robot later rotates back to starting position, because it is more accurate.


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Function three: Move forward.


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Control unit A requests the database for the distance,


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and the application transforms the distance to the number of degrees the motors, and thereby, the wheels must rotate,


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to bring the robot just short of the paper reel.


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Function four: Get.


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Ultrasonic sensor A, detects if a reel is within the threshold and ready to be retrieved.


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In case no reel is detected, the robot returns to starting position.


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The robot moves forward,


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and grabs the reel.


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Function six: Move backwards.


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The robot returns to center position.


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Function seven: Rotate back.


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The robot rotates to starting position.


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Function two: Rotate out.


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Control unit A, requests the database for the angle to the truck


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and rotates.


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Function three: Move forward.


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It then moves straight onto the truck.


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Function five: Drop off.


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The robot positions and releases the paper reel.


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Function six: Move backwards.


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After releasing the reel it returns to the center position.


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Function seven: Rotate back.


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Here it rotates back into starting position.


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The robot continues until all paper reels are loaded according to the delivery order.


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When the robot is finish loading, the driver checks the load,


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registers any irregularities in the driver’s log,


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closes the back doors and leaves the loading dock.