This is purely done by timing the expected rotational velocity and no feedback is provided by the servo. This leads to increased performance as the system does not need to hang around and can move to the next cup straight away. This means that the piece is on its way down the tube and just as it exists the end, the servo has has had time in the meantime to get into position. The piece is release from the feeding wheel just before the feeding tube is within range of the cup. When the color has been identified, the piece is dropped from the feed wheel and onto a 360-degree servo with a feeding tube attachment which guides the piece into the right cup. This transition is used to change process state and start the color analysis at the right moment. The feed wheel rotation is governed by a QRE1113 IR distance sensor which detects the slot depth change. A RGB LED next to the feed wheel will illuminate to give a visual indication of the detected color. For the piece to be successfully identified and pass control, at least 2 of profiles have be within 3 standard deviation (three-sigma rule) of the pre-calibrated data set for Skittles or M&Ms. There is a total of 4 slots.Īfter the pieces have been put into individual slots, a white LED illuminates the piece and an ADJD-S311-CR999 CMOS IC with integrated RGB filters captures 3 color profiles at different angles. In addition, to prevent pieces from clogging the top funnel and loading tube, a steel rod connected to the feed wheel will stir the pieces. Each slot is just wide and deep enough to hold a single piece and if there is a piece stuck between the loading tube and the slot, the system will detect this (the delay in the detection of the expected slot) and reverse the rotation of the feed wheel to free the piece. A continuous rotation servo with a variable rotation speed loads pieces into predefined slots in the feed wheel. The machine uses two GWS servos for loading and sorting the pieces. The programming mimics a real time system where each of the four processes are state driven, which means only a short instruction performed before the system jumps to the next process. 5V and 3V3 power for the servos and board is supplied by the 5V power supply. An external 9V power supply keeps the system running. All the sensors and servo actuators connect to this board. External terminal possible for statistics and diagnosticsĬentral in the system is an Atmel ATmega328 AVR microcontroller - integrated nicely on an Arduino Uno platform.Pseudo-realtime processing model with non-locking delay library.Easy maintainable C code - Arduino IDE platform based (5min: download, open, edit, compile, upload - easy!).Preemptively releases items for optimal performance.Hopper handles up to 500 gram / 17 oz bags.Up to six individual cup positions/colors supported.Sorts based on color of the piece using a RGB sensor.Supports Skittles, M&M's, Reese's pieces and similar sized candies.
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