CHAPTER ONE

INTRODUCTION
1.1 Background to the study
Because manual systems have limitations, automated systems help refine industrial processes.
The manual system of object sorting relies on labor. Humans are very good at sorting and
distinguishing between different colors of objects.
However, going through the same motions again could aggravate you and make you stressed out,
which could result in manual mistakes like poor accuracy, low effectiveness, etc. Automated
systems are used to decrease production time and improve quality. The suggested system can
recognize, classify, and tally items according to color. It can also show the items on an LCD
screen and store them in the cloud. The objects of different colors are repeatedly transferred to
different containers (Anandh et al,2022).

Production efficiency is now widely considered the secret to success in the current climate of
fierce competition. Production efficiency is the rate at which production lines and equipment
may be put into use to reduce production costs for materials and labor, increase quality, reduce
rejects, and minimize downtime for both expensive and low-cost manufacturing machinery.
Taking this into account, a project that is very helpful to industries is established. The study's
primary goals include examining alternative sorting procedures, creating and making a conveyor
belt, designing and making an automatic color sorting system for products on the belt, and
automatically removing defective goods from the conveyor belt. The system's key advantages are
that it takes less time to sort the goods, requires less manpower because the entire process is
automated, and reduces the potential for error.

1.2 Statement of the Problem

Automated color sorting systems play a crucial role in various industries, including food
processing, recycling, pharmaceuticals, and manufacturing. These systems utilize advanced
technologies to sort and classify objects based on their color, ensuring accuracy, efficiency, and
quality control in production processes. Traditionally, color sorting was performed manually,
relying on human visual inspection, which was time-consuming, subjective, and prone to errors.

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However, with advancements in computer vision, machine learning, and sensor technologies,
automated color sorting systems have emerged as a reliable and cost-effective solution.
These systems typically consist of a conveyor belt or chute that transports objects, such as grains,
fruits, or recyclable materials, toward an inspection area. Multiple high-speed cameras or sensors
capture images of the objects as they pass through the inspection area. The captured images are
then analyzed and processed by sophisticated algorithms and software. The algorithms analyze
the color properties of each object, extracting relevant features and comparing them to
predefined color standards or user-defined criteria. Based on this analysis, the system determines
the appropriate action for each object, such as diverting it to a specific bin or rejecting it from the
production line.

Automated color sorting systems offer several advantages. First and foremost, they provide
highly accurate and consistent sorting results, minimizing human error and improving quality
control. They can quickly process large volumes of objects, significantly increasing productivity
and throughput. Additionally, these systems are capable of handling a wide range of object sizes
and shapes, making them versatile across different industries. The effectiveness of automated
color sorting systems is largely attributed to the integration of advanced technologies. Machine
learning algorithms enable the system to learn and adapt to different color variations, enhancing
its sorting capabilities over time. High-speed cameras and sensors with precise color recognition
capabilities ensure accurate object classification. User-friendly interfaces and software provide
operators with real-time monitoring and control, enabling efficient system management.

The application areas for automated color sorting systems are diverse. In the food industry, these
systems are used for sorting grains, nuts, fruits, vegetables, and even meat products based on
color defects, ripeness, or quality. In recycling facilities, they aid in the separation of recyclable
materials, such as plastic, paper, and glass, based on their color properties. In the pharmaceutical
industry, color sorting systems assist in ensuring consistent capsule or tablet quality.

In summary, automated color sorting systems have revolutionized industrial processes, offering
efficient and reliable solutions for object classification based on color. They combine computer
vision, machine learning, and sensor technologies to provide accurate sorting results, enhance

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productivity, and improve quality control. With their versatility and wide-ranging applications,
these systems continue to play a vital role in various industries, contributing to streamlined
production processes and customer satisfaction.

1.3 Aim and Objectives of the study:

The aim of the study was to develop and fabricate an automated color sorting system.
The specific objectives are:
i. To review existing literature and research on color detection systems, conveyor belt
technologies, and automation processes in the context of sorting based on color.
ii. To design and develop a color sorting device that integrates advanced color detection
technology with a reliable conveyor belt system.
iii. To optimize the colour sorting device in terms of speed, accuracy, adaptability, and ease
of integration into existing production lines or processes.
iv. To evaluate the performance of the color sorting device through experiments and testing,
comparing its efficiency and accuracy with manual sorting methods.

By achieving these objectives, the study aims to provide valuable insights and practical guidance
for industries looking to adopt automated color sorting solutions, ultimately leading to increased
efficiency, accuracy, and cost-effectiveness in their sorting processes.

1.4 Scope of this Study

The scope of the study on the development and implementation of a colour sorting device with a
conveyor belt encompassed the following aspects:

i. Design and Development:

The study focused on designing and developing a colour sorting device that integrates
advanced color detection technology with a conveyor belt system. The device will be
capable of accurately sorting objects based on their colors in real-time.

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 ii. Industrial applications: The study considered the application of the color sorting device in
various industries, including manufacturing, recycling, food processing, pharmaceuticals,
and logistics. It takes into account the specific sorting requirements and constraints of
each industry.
iii. Performance Evaluation:
The study included evaluating the performance of the color sorting device through
experiments and testing. It aims to assess the efficiency, accuracy, speed, and adaptability
of the device compared to manual sorting methods.
iv. Implementation Considerations:
The study explored the challenges and considerations associated with implementing the
color sorting device in real-world industrial settings. It provides recommendations for
effective deployment, integration, and utilization of the device based on cost-
effectiveness, scalability, and compatibility with existing production lines or processes.

1.5 Limitations:

While the study aimed to address the development and implementation of a color sorting device
with a conveyor belt, there were certain limitations to consider:

i. Cost and Resources:

The study was limited by budgetary constraints and access to resources required for designing,
developing, and testing the color sorting device. The availability of advanced color detection
technology and suitable conveyor belt systems may vary based on affordability and accessibility.

ii. Industry-specific Considerations:

While the study considered various industries, the specific requirements and constraints of each
industry may vary significantly. It may not be possible to address all industry-specific factors in
depth, requiring additional customization and adaptation of the device for specific applications.

iii. Practical Implementation Challenges:

Implementing an automated color sorting device in real-world industrial settings involved

practical challenges related to integration with existing infrastructure, compatibility with other

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equipment, and training of personnel. These challenges impacted the successful deployment and
utilization of the device.

iv. Environmental Factors:

Environmental conditions, such as lighting variations, dust, or ambient temperature affected the
performance and accuracy of the color detection system. The study needed to consider these
factors and explore strategies to mitigate their impact on sorting accuracy.

v. Scalability and Versatility:

While the study was to develop a colour sorting device adaptable and scalable to different
applications, there were limitations in terms of the size, shape, and types of objects that can be
effectively sorted using the device. The study defined specific limitations or recommendations
regarding object characteristics.

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 CHAPTER TWO
LITERATURE REVIEW
Colour sorting is an important process in manufacture of products of different colour variety.
However, manual or conventional colour sorting are not essential and can lead to low quality
products and low productivity. Automated colour sorting systems have been developed to
address this challenge. These systems can be powered electrically and have sensors incorporated
in them to make selection process possible.

2.1 Colour sorting techniques

Colour sorting methods involve the procedure of arranging or classifying items based on their
colours. This can be implemented across diverse domains, such as image processing, industrial
automation, and everyday activities. The following are some prevalent color sorting approaches:

i. RGB Colour Model: In this method of color sorting the RGB (Red, Green, Blue) color
model is extensively employed in digital imaging, representing each color by blending
varying intensities of red, green, and blue.

ii. HSV Colour Model: In this method of color sorting the HSV (Hue, Saturation, Value)
color model offers an alternative to RGB, depicting colors based on their hue, saturation,
and brightness.

iii. Colour Histograms: In this method of color sorting histograms portray the color
distribution in an image, allowing identification of dominant colors and sorting objects
based on color frequency.

iv. Colour Thresholding: In this method of color sorting Involves setting specific color
thresholds to segregate objects of interest, with pixels within the specified color range
being deemed part of the target object.

v. Machine Learning and Deep Learning: In this method of color sorting there is an
application of machine learning algorithms or deep learning models trained on color data
to recognize and categorize objects based on their color.

vi. Colour-Based Sorting Machines: In this method of color sorting Industrial sorting
machines equipped with sensors and cameras capable of identifying and categorizing
objects based on their color.

vii. Image Processing Algorithms: In this method of colour sorting algorithms like k-means
clustering, color space conversions, and morphological operations applied for image
processing and sorting objects based on colour.

viii. Colour Sensors: In this method of colour sorting Physical sensors designed to detect and
measure the color of objects, often utilizing filters to identify specific color wavelengths.

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2.2 Recent Advancements
(Anandh,et al 2019) proposed a system that sorted and counted objects based on their colors and
the collected data is transferred to the cloud. In this system NodeMCU was used as control unit
and transmitted the entire process. TCS3200 color sensor was used to sort out the objects and
were being directed with the help of servo motor. In conclusion the proposed system is an
inexpensive system with which even small-scale industries can able to get updated with the
automated system. With the help of this, the sequence of objects can be sorted in basis of color
which can reduce the manpower and time in industries. Since the information of the objects is
being displayed in LCD display and web-server it is easy for the person who supervised the
system.

(Vandana, et al, 2021) developed a S71200 PLC-based sorting system to demonstrate this sorting
system, this project used electro-magnetic actuators with a TCS2300 color sensor to automate the
whole system. The system consisted of a conveyor belt to carry items and a color sensor to sense
the product’s color form, and the system the used 2 electromagnetic actuators to actuate and
drive the product at its respective collection station. To identify the color of the object moving on
the conveyor belt, a color sensor was used. The color sensor transmitted a particular signal to the
PLC as soon as the appropriate color is detected, which, in turn, operated the corresponding
electromagnetic actuator to force the product out of the respective station. In conclusion, an
easily re-programmable framework utilizing the Programmable Logic Controller (PLC) was
developed.

(Mohammadreza, et al, 2022) an automated and intelligent mechatronic conveyor system is

designed and developed for transporting and positioning circular objects that can be used in the
manufacturing and packaging industries. In addition to moving and positioning, timing can also
be controlled on this conveyor belt robot. All control operations were handled by an electrical
and programmable relay called a mini programmable logic Controller (PLC), color sensor,
gripper arm, and electronic switches. An electro-pneumatic system is used to control the robot
for placing objects. The main goal of this study was to develop a novel 3D structural design that
makes the procedure unique for better efficiency and accuracy. The novelty of this work lies
within the 3D design of two belts and assembly of all electro-pneumatic components which are
helpful for manufacturing assembly lines. Also, the TCS230 sensor and AVR microcontroller
were used to identify the colors within the operation. The results showed the accuracy of the
developed system is reliable in terms of color and positioning detection. The system is able to
work non-stop for more than 1 hour without any issues.

(T.J. Nuva et al, 2022) This system identified, separated, and collected the things based on color
and weight using a conveyor belt, strain gauge load cell, DC motor, servo motor, TCS 34725

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RGB color sensor, LCD, LED, and LDR. Arduino was used to manage every procedure. Three
different color types red, green, and blue as well as weights within various ranges were sorted in
this work. The intended colors were sorted by the color sensor after the weights had first been
sorted by a load cell. The box is retrieved depending on the signal gotten from the Arduino, a
bucket at the end of the conveyor belt is rotated. There is a specified area in one color on the
collecting box. It could therefore be turned at a weight or color either red green or blue.

(A. Thike, et al, 2019) stated that Color and size are the most important features for accurate
classification and sorting of product which was done by using some optical sensors or analyzing
their pictures. They separated items by their colors, detecting the colors if things that pass before
them and used mechanical or pneumatic ejection devices to divert items whose colors do not fall
within the acceptable range. The Color Sorting Machine was used for sorting mainly RGB
colors. A simple robot arm was used to apply a color sorting to a physical system. The objects
were placed to the conveyor belt using robot arm with servo motors. One conveyor belt was
used, which is controlled by DC motors. A TCS230 color sensor module was used to sense the
color then the Arduino microcontroller sent signal to circuit which drove the various motors of
the robotic arm to grip the object and place it in the specified location. Based upon the detection,
the robotic arm moved to the specified location, released the object and came back to the original
position. The main advantages of the system were less time required to sort the product, as the
whole system was performed by machine there was less possibility of mistake, less man power
required.

(Amin, et al, 2014) emphasized on a project to design an efficient, microcontroller based system
that picked up right color of objects and put it down at right place to optimize the productivity,
minimizing the cost of the products and decreasing human mistakes was carried out. The
controller used was a PIC Microcontroller (18F452) having high speed performance, low cost
and 32 kilobytes program memory. It communicated with color sensor TCS3200 and various
motor modules in real time to detect the right color object and to control the arm movement.
Designed system could pick objects of 1kG weight and arm could rotate up to 360.

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2.3 Knowledge Gap
The design and implementation of an Automated Color Sorting System has the potential to
greatly improve a production process. However, despite the recent advancements in the field the
remains several knowledge gaps that needs to be filled to ensure that we get best design and
implementation of these technologies.
i. Cost and Scalability: This knowledge gap is concern with the cost of
implementation and maintenance of the system and also the design of a system
that can be scaled to work efficiently.
ii. Database and Machine Learning: The system requires high level data training to
effectively learn to recognize different colors.
iii. Sophisticated Algorithm: The use of advance sensors and machine learning to
train the system will require the use of high level programming to help system
process data.
iv. Education and awareness efforts: Improved and awareness creation of the
importance of this technology and how to use it should be enforced.
v. Enforcement and regulation: Ensure that the use of this technology complies with
every law and regulation in the industry which it works in.

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 CHAPTER THREE
MATERIALS AND METHODS
3.1 Principles of system working
The whole process began at the power supply unit which has a DC supply that powered the
system, items to be sorted are received through a plastic tube. These items are then detected by
the color sensor placed at the end of the receiving tube. The Reflection of the objects color is
detected by the color sensor, for this project colors considered are red, green and blue.
After color is detected by the colour sensor, algorithms use referenced values or pre-established
color criteria to compare the colour data, the analysis is used by the system to determine each
item's color. The products are divided into various classes or color groups.
Servo are then activated to help guide the different coloured items to their compartment

MCU
5V Battery

LCD COLOUR
DISPLAY SENSOR
SERVO
MOTORS

Fig 3.1 A block diagram representing the components used for the Automated Color sorting
system.

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3.2 Materials
The major components that make up the color system are discussed below:

3.1.1.1 APDS Color sensor

The APDS-9960 serves as a digital sensor designed for Proximity, Gesture, and Ambient light
detection, making it a versatile sensor.In this project its used as an RGB color sensor. A gesture
detection module, an RGB color sensor, an ambient light sensor, and a proximity sensor are all
included in the APDS-9960 gadget.
An LED in this device serves as an IR signal source. The IR signal produced by the LED or
reflected back from the obstacle's surface is detected when an obstruction or any gesture is made
in front of the device. The photodiodes of APDS-9960 detect this reflected light.

Plate 3.2: A diagram of a color sensor

3.2.1.2 Arduino Nano

A member of the Arduino family, the Arduino Nano is a small and functional open-source
microcontroller board. Its tiny form factor and easy-to-use design make it ideal for situations
where space is at a premium. It is suited for a wide range of electronic tasks. Input and output
pins, a USB port for communication and programming, and compatibility with the Arduino
Integrated Development Environment (IDE) are all features of the Arduino Nano. Professionals,
students, and enthusiasts use it extensively for prototyping and building a wide variety of
electronics projects.

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 Plate 3.3: A diagram of an Arduino Nano

3.2.1.3 Battery
A 5-volt battery is a compact and versatile electrical power source designed to deliver a
consistent voltage of 5 volts across its terminals. This standardized voltage makes it a popular
choice for a wide range of electronic devices and small-scale applications, providing a reliable
and stable energy supply to power microcontrollers, sensors, and other components.

With its modest voltage output, the 5-volt battery is often employed in gadgets such as USB-
powered devices, Arduino boards, and various digital peripherals. Its compatibility with common
electronic components makes it an accessible and widely used option for hobbyists, engineers,
and manufacturers alike. The 5-volt battery's compact form factor, coupled with its reliable
performance, contributes to its prevalence in portable electronics, ensuring seamless operation
and power efficiency in diverse applications.

Plate 3.4: Diagram of a Battery

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3.2.1.4 Servo Motor
A servo motor is a specialized electric motor equipped with a feedback mechanism that enables
precise control of its angular position. Widely used in robotics, automation, and other
applications requiring accurate and controlled movement, servo motors receive signals from a
controller to adjust their rotational position, providing a versatile solution for tasks such as
steering mechanisms, robotic arm movements, and camera positioning.

Plate 3.5: Diagram of a Servo Motor

3.2.1.5 16 X 2 Liquid Crystal Display(LCD)

LCD 16×2, which is a type of plane panel display technology used in computer monitors, TVs,
smartphones, tablets, and other mobile devices, is an acronym for Liquid Crystal Display. LCD
16x2 is a type of display used for data and message display. As the name implies, it has 16
Columns and 2 Rows, allowing it to display a total of 32 characters (16×2=32). Each character is
created using 5×8 (40) Pixel Dots. Therefore, the total number of pixels in this LCD can be
calculated as 32 x 40, or 1280 pixels if not.

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 Plate 3.6: Diagram of a 16 x 2 LCD

3.2.1.6 Plastic Pipe

A pipe is a tubular structure typically made of metal, plastic, or other materials, designed to
transport fluids or gases from one point to another. Pipes serve a crucial role in various
industries, including plumbing, manufacturing, and energy, facilitating the efficient conveyance
of liquids or gases for processes such as water supply, sewage systems, and the transportation of
oil and natural gas.

Plate 3.7: Diagram of Pipes

3.2.1.7 Strip Board

An electronic circuit prototype is made using a circuit board called a stripboard, also known as a
Vero board. It is made out of a board with copper strips running the length of it and holes
arranged in a grid pattern. To connect components electrically, these copper strips can be
"stripped" or cut.

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 Plate 3.8: Diagram of a strip board or Vero board

3.2.1.8 Connection Wires

This are used to transport signals and current from one component to the other throughout the
system.

Plate 3.9: Diagram of connection wires

3.2.1.9 Wood
Wood is a natural, fibrous, and porous material derived from the stems and branches of trees,
widely utilized in construction, furniture making, and various crafts due to its versatility,
durability, and aesthetic appeal.

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 Plate 3.10: Diagram of wood

3.2.2 Tools Used

3.2.2.1 Soldering Iron and lead
It’s One hand tool used for soldering is a soldering iron. In order for solder to flow into the joint
between two work pieces, it needs heat to melt it.

Plate 3.11: Soldering iron and lead

3.2.2.2 Soldering Iron and lead

It’s One hand tool used for soldering is a soldering iron. In order for solder to flow into the joint
between two work pieces, it needs heat to melt it.

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 Plate 3.12: Hot Glue Gun

3.2.2.3 Saw
A saw is a cutting tool with a toothed blade or abrasive disc that is used to mechanically separate
materials such as wood, metal, or plastic by repeatedly moving the blade or disc across the
material.

Plate 3.13: Diagram of hand saw

3.2.2.4Arduino Integrated Development Environment(IDE)

The Arduino Integrated Development Environment is a software from Arduino used for writing
and editing Arduino codes, it contains a text editor for writing code, a message area, a text
console, a toolbar with buttons for common functions and a series of menus. It connects to the
Arduino hardware to upload programs and communicate with them.

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 Plate 3.14: Diagram of an Arduino IDE

3.2.2.5 Proteus 8
The Proteus Design Suite is a proprietary software tool suite used primarily for electronic design
automation. It is a Windows application for schematic capture, Simulation, and Printed Circuit
Board(PCB) layout design. It can be found in many configurations, depending on the size of
designs being produced and the requirements for microcontroller simulation. All PCB Design
products include an auto router and basic mixed-mode SPICE simulation capabilities.

Plate 3.15: Diagram of the Proteus 8 environment

3.2.2.6 Solid Works

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This is a software that is used to is used to develop and simulated 2D and 3D design concepts for
a project before they are built.

Plate 3.16: Diagram of a solid works environment

3.3 Methods
we discussed the principles, theories to be used. It is important to understand the principles and
theories of operation used in design and construction of automated color sorting system.
3.3.1 Method of fabrication
Following the successful sizing of all the components, the method of installation is as follows;
i. Define the Requirements: The first step in this stage research is carried out on the objects or
materials to be sorted based on colour, Specification of the desired sorting speed, accuracy, and
throughput and lastly the identification of the colors or color ranges that need to be detected and
sorted.

ii. Gather the Required Components: The following components are identified and studied.
these components include: Arduino Nano, APDS-9960 RGB colour sensor, Conveyor tubes,
Power supply for the Arduino, sensor and motor and servos for controlling conveyor tubes.

iii. Assemble the Hardware: The motor driver module is connected to the Arduino Nano board,
the motor driver module is wired to the conveyor motor, The RGB colour sensor module is
connected to the Arduino board, Measures are taken to ensure that all components are securely
mounted and properly connected.

iv. Develop the Software: The Arduino IDE is installed with necessary libraries for the colour
sensor module, the code to control the conveyor motor, the code to read colour data from the
sensor module is implemented, robotic arms servos are controlled by code which is also written
into the Arduino IDE, the colour thresholds or ranges for sorting is defined, the logic for sorting

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objects based on colour data is developed, Integration of motor control, sorting mechanism and
colour sorting algorithms is carried out.

v. Calibrate the Colour Sensor: A calibration process to establish baseline colour values is
performed, colour readings from known reference samples are captured, the colour thresholds or
ranges based on the calibration data is adjusted.

vi. Test and Refine the System: Tests with objects of different colours to verify the sorting
accuracy is carried out, the system's performance and make adjustments if necessary is
monitored, the software and hardware components as needed is iterated and defined.

3.4 Design Analysis

3.4.1 Power rating of component
The power rating of various components is listed below:
Table 3.1: Displays the components and their power ratings

Components Power rating

2 Servo motor 0.625W

APDS 9960 Colour sensor 0.1 W

Arduino Nano 0.1 W

16x2 LCD 0.1 W

Total 0.925W

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Location – choba
Daily power supply - 10hrs
Total consumed by the system =0.625+0.1+0.1+0.1=0.925W (3.1)

Average operating hours per day=10 hrs.

i)Daily power consumption per day(Pd) = (0.925W) x 10hr = 9.25Wh (3.2)

ii)Total power supply(Pt) = (5v x 2.4 A) x 10hr = 120Wh (3.3)

Based on the above calculations we can say that the power supply is sufficient to power the
system for its total operating time.

3.4.2 Servo Torque(Ts):

Ts= r x Fsin (x) or r x F (3.4)
Ts rating of system motor is 1.2kg/cm

Where:
Ts - Servo torque
r - distance from position of force applied on axis of rotation
F – Weight of the load being carried by servo
x – Angle of inclination

3.4.3 Servo 1 Calculation:

r=4 cm
F, Maximum weight allowed = mx g (3.5)

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 Ts (3.6)
r
1.2 kg-cm = 0.3kg x 9.81= 2.943N
4cm

3.4.4 Servo 2 Calculation:

R=30cm
F, Maximum weight allowed= m x g (3.7)

Ts
R (3.8)

1.2kg-cm = 0.04 x 9.81= 0.3924N

30cm

CHAPTER FOUR
RESULT AND DISCUSSION
4.1 Design Results
The outputs of design analysis are shown in the table below:
Table 4.1: Design Parameters

Value
Quantity symbol Unit Equation

Total consumed by Pt Watts Eqn 3.1 0.925

the system
Daily power
consumption per day Pd Wh Eqn 3.2 9.25
Total power supply P Watts Eqn 3.3 120
Servo Torque Ts
Kg-cm Eqn 3.4 0.75408
Servo 1 calculation SV1 N Eqn 3.6
2.943N

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 Servo 2 calculation
SV2 N Eqn 3.8 0.3924N

4.2 Economic Result

The cost estimate for design analysis are shown in the table below:
Table 4.2: Cost Estimates

S/N Items cost

1. Microcontroller 10,000
3. 2 Servo motors 8,000
4. APDS 9960 Colour sensor 5,500
6. Wires 5,500
8. Nails 2,000
9. Pipe 15,000
11. 16x2 LCD display 5,000
12. Paint 4,000
13. Workmanship for painting 5,000

14. Wood 5,000

15. Workmanship for Carpenter 6,000

16. Vero board 1,000
17. Hand tool hiring and purchase 45,000

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 18. Miscellaneous 30,000

4.3 Discussion
From table 4.1, it is understood that the daily energy consumed by the system is 9.25Wh which is
met with a sufficient supply from 5V DC power supply.
The servo motors had the adequate torque for what needed to be achieved.
With every colour detected, the servos of the selection mechanism changes orientation as
expected and programmed to achieve a color sorting action of the detected colored items. For a
Red object detected all servo motors move to direct the red object to its desired compartment,
this is the same for color blue and green when these objects have encountered.

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4.4 Logic Circuit
This logic circuit shows how all the conncections are done as regards to the robotic arm servo
motors,motors for the converyor,ADPS 9960 colour sesnor and other peripheral components
used to achieve the overall system.

Fig 4.1 A diagram showing the logic circuit of the connection done for the system

4.4 Engineering Design

This shows the full design of the automated color sorting system

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 Fig 4.2 A Engineering Design of an Automated colour sorting

CHAPTER FIVE
CONCLUSION AND RECOMMENDATION
5.1 Conclusion
In this paper a new automated color sorting system was designed and implemented that has the
ability to detect red, blue and green colors using the ADPS 9960. Based on color detected a
selection process was carried out by the colour. A plastic tube was the main transport medium in
this system which was used to direct items to be selected from initial position to the sorting
section of the system. The major drawback of the system was its inability to sort a wide range of
colored items, it was just limited to three colors. It is important to carry out comprehensive
analysis of the power requirements and use high efficiency components, optimize the movement
of the servo motor controlled mechanism with respect to the color detected, use suitable power
supply and properly implement sensor and automation features to maximize output.

5.2 Recommendations
Here are some recommendations for the design and fabrication of automated color sorting
system:

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 i. Usage of high efficiency components: To maximize output and energy efficiency of the
system, it’s important to use high efficiency components. These include selecting a high
efficiency servo motor, using adequate colour sorting and DC power supply
ii. Use of adequate DC supply: The use of adequate DC power is important for power supply to
components like servo motors which use at least 4.8v voltage inputs.
iii. Implement Regular Maintenance: Maintenance should be carried out to ensure that the
system continues to operate efficiently. This includes regular component checks especially
sensor to make sure they are working optimally and also quick changes for repair of faulty
components.

5.1 Contribution to Knowledge

The introduction of the APDS 9960 color sensor and colour sorting mechanism to the automated
color sorting system, this helped to detect color variations between red, green and blue
effectively. It ensures a reliable and effective color selection and separation process.

REFERENCES

Anadh, B.A., A. Ranisangeetha, K. Aravindan, A. Shankar Ganesh, R. Sakthivel.” IOT-based

Automated Color Sorting and Counting system,” International Journal for Research in
Applied Science and Engineering Technology (2019), doi:
https://doi.org/10.22214/ijraset.2019.3103.

Vandana, S. K. Shamukha Sri Sai, P. Rohila and V. Manideep, “PLC Operated Color Based
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APPENDICES
Project Code
#include <Wire.h>
#include <SparkFun_APDS9960.h>
#include <Servo.h>
#include <LiquidCrystal_I2C.h>

Servo servo1;
Servo servo2;
Servo servo3;

LiquidCrystal_I2C lcd(0x27, 16, 2);

// Global Variables
SparkFun_APDS9960 apds = SparkFun_APDS9960();
uint16_t ambient_light = 0;

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uint16_t red_light = 0;
uint16_t green_light = 0;
uint16_t blue_light = 0;

void setup() {
// Initialize Serial port
Serial.begin(9600);

servo1.attach(8);
servo2.attach(7);
servo3.attach(6); // Assuming servo3 is connected to pin 9

lcd.init();
lcd.backlight();

Serial.println();
Serial.println(F("--------------------------------"));
Serial.println(F("APDS-9960 - ColorSensor"));
Serial.println(F("--------------------------------"));

// Initialize APDS-9960 (configure I2C and initial values)

if (apds.init()) {
Serial.println(F("APDS-9960 initialization complete"));
} else {
Serial.println(F("Something went wrong during APDS-9960 init!"));
}

// Start running the APDS-9960 light sensor (no interrupts)

if (apds.enableLightSensor(false)) {
Serial.println(F("Light sensor is now running"));
} else {

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 Serial.println(F("Something went wrong during light sensor init!"));
}

// Wait for initialization and calibration to finish

delay(500);

void loop() {
// Read the light levels (ambient, red, green, blue)
if (!apds.readAmbientLight(ambient_light) ||
!apds.readRedLight(red_light) ||
!apds.readGreenLight(green_light) ||
!apds.readBlueLight(blue_light)) {
Serial.println("Error reading light values");
} else {
Serial.print("Ambient: ");
Serial.print(ambient_light);
Serial.print(" Red: ");
Serial.print(red_light);
Serial.print(" Green: ");
Serial.print(green_light);
Serial.print(" Blue: ");
Serial.println(blue_light);

// Adjust these threshold values based on your actual sensor readings

const int redThreshold = 200;
const int greenThreshold = 200;
const int blueThreshold = 200;

if (red_light > redThreshold && red_light > green_light && red_light > blue_light) {

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 // Object is red, move servo1 to the corresponding position
moveServo(servo1, 180, 3);
} else if (green_light > greenThreshold && green_light > red_light && green_light >
blue_light) {
// Object is green, move servo2 to the corresponding position
moveServo(servo2, 180, 3);
} else if (blue_light > blueThreshold && blue_light >red_light && blue_light >
green_light) {
// Object is blue, move servo3 to the corresponding position
moveServo(servo3, 180, 3);
} else {
// Object does not match any color, perform other actions or do nothing
}
}

delay(1000);
}

void moveServo(Servo &servo, int targetAngle, int stepDelay) {

int currentAngle = servo.read();
int direction = (targetAngle > currentAngle) ? 1 : -1;

while (currentAngle != targetAngle) {

currentAngle += direction;
servo.write(currentAngle);
delay(stepDelay);
}
}

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 Arduino Nano

ADPS color sensor and Arduino Nano

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 16x2 LCD monitor

Wooden body underwork

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