The loading process.
The purpose of the loading process at Solvang’s Paper Mill Warehouse is to load paper reels onto trucks.
The loading of paper reels is handled by robots – one per each loading dock.
The loading process consists of seven functions.
Function one: Scan.
The driver scans the delivery order.
White indicates that the scan is completed.
Function two: Rotate out.
Control unit A, uses Wi-Fi to request the database for the angle to the first paper reel.
Control unit A, activates the large motors and Gyro sensor A, to rotate the robot.
The build-in rotation sensor of Large motor A, registers how many degrees the motor and therefore the left wheel has rotated.
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.
Function three: Move forward.
Control unit A requests the database for the distance,
and the application transforms the distance to the number of degrees the motors, and thereby, the wheels must rotate,
to bring the robot just short of the paper reel.
Function four: Get.
Ultrasonic sensor A, detects if a reel is within the threshold and ready to be retrieved.
In case no reel is detected, the robot returns to starting position.
The robot moves forward,
and grabs the reel.
Function six: Move backwards.
The robot returns to center position.
Function seven: Rotate back.
The robot rotates to starting position.
Function two: Rotate out.
Control unit A, requests the database for the angle to the truck
and rotates.
Function three: Move forward.
It then moves straight onto the truck.
Function five: Drop off.
The robot positions and releases the paper reel.
Function six: Move backwards.
After releasing the reel it returns to the center position.
Function seven: Rotate back.
Here it rotates back into starting position.
The robot continues until all paper reels are loaded according to the delivery order.
When the robot is finish loading, the driver checks the load,
registers any irregularities in the driver’s log,
closes the back doors and leaves the loading dock.