WEBVTT

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The Pipe Sorting process.

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The purpose of the pipe sorting process is to sort pipes by length.

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The sorting of pipes is handled by robots – one per each sorting area.

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Once the pipes are sorted they are retrieved by other robots and loaded onto trucks or railcars.

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The pipe sorting process consists of eight functions.

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Function one: Detect.

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A conveyor moves the pipes from the production area to the warehouse.

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Ultrasonic sensor A measures when a pipe is ready to be retrieved.

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The application transforms the measured distance to the number of degrees

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the large motors and thereby the wheels must rotate to move the robot to the pipe.

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Function two: Get.

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The robot uses Medium motor A to lower and open the gripper.

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It then moves forward,

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grabs and lifts the pipe.

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Function three: Scan.

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Color sensor A in 'Color Mode' detects the pipe's color code.

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Function four: Move backwards.

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The robot moves straight backwards until Color sensor B in 'Color Mode' detects the red line.

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To avoid accidents the robot emergency stops if Color sensor B does not detect

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the red line before the wheels have rotated a fixed number of degrees.

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For pipes without a clearly identifiable color code the robot will place the pipe in the area R for Rejects.

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Function eight: Reject.

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The robot rotates -90 degrees, places the pipe in the area for rejects and returns to starting position.

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Function five: Track.

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For pipes with clearly identifiable color codes Control unit A uses Wi-Fi to request the Database for the distance,

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and the application transforms 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 that corresponds to the color code on the pipe.

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8-feet pipes are marked red and moved to area 'A',

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10-feet pipes are marked green and moved to area 'B',

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and 6-feet pipes are marked yellow and moved to area ‘C’.

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The robot starts tracking by using Color sensor B in “Reflected Light Intensity Mode” .

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

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The robot turns to the left by increasing power to the Large motor B and decreasing power to the Large motor A

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if the reflected light is below 50 %,

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and to the right if it is above.

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In this way the robot is able to track the left edge of the black line.

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Function six: Move forward.

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

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that corresponds to the distance received from the Database,

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Color sensor B switches from “Reflected Light Intensity Mode” to “Color Mode”,

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and the robot moves straight forward until Color sensor B detects the red line.

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Function seven: Drop-off.

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The robot continues to move a fixed distance straight forward,

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places and releases the pipe.

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It is important that the pipe is placed entirely within the marked area, because the later process otherwise gets stuck.

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Function four: Move backwards.

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The robot moves straight backwards until Color sensor B in 'Color Mode' detects the red line.

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Function five: Track.

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The robot now repeats the tracking step to return to starting position.

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Function six: Move forward.

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It is now ready to sort the next pipe.