International Journal of Advanced Innovative Technology in Engineering (IJAITE),

Vol.6, No.3, May 2021

E-ISSN: 2455-6491
Available online at www.ijaite.co.in

Design and Development of Color and Size Sorting

Machine for Spherical Object
1
Ankur Patil, 2Dr. Y. P. Deshmukh
Color sensor systems are increasingly being used in
Abstract— Sorting of the products in the industry is very automated applications to detect automation errors and
difficult task and continuous manual sorting creates issues. It monitor quality at the speed of production line. They are used
is very desirable to create a machine that identify the objects in assembly lines to identify and classify products by color.
and relocate them if the object meets certain criteria. This The objectives of their usage include checking the quality of
paper presents a solution to sort the colored spherical objects. products, to facilitate sorting and packaging, to assess the
Initially, the colored skittles which are held in the charger equality of products in storage, and to monitor waste
drop into the platform attached on the top servo motor. Then products. Consequently, there is an abundance of color
the servo motor rotates and brings the skittle to the color sensors and the choice is often application-driven. Low cost
sensor which detects its color. After that the bottom servo and simple color sensors are preferred over sophisticated
motor rotates to the particular position and then the top servo solutions for less demanding applications where the top
motor rotates again till the skittle drop into the guide rail. priority is cost and power consumption. Color names can be
used and conjure reasonably consistent perceptions. There
Keywords— Sorting Machine, Spherical Objects, Servo have eleven basic color names that have been identified such
Motor, Skittle as white, gray, black, red, yellow, green, blue, orange, purple,
pink, and brown. Most or all colors can be described in terms
I. INTRODUCTION of variations and combinations of these colors. Due to the fact
A machine is a structure which uses power for applying that human color vision is accomplished in part by three
various kinds of forces and to control movement. Highly different types of cone cells in the retina, it follows that three
repetitive tasks can be performed. Automating the tasks in the values are necessary and sufficient to define any color. Color
industries to improve the efficiency may be helpful. To theory describes that there are three values that can be thought
design and implement a system which automatically of as coordinates of a point in three-dimensional space, giving
separates products based on their color is the purpose of this rise to the concept of color space. Hue, saturation, luminance
project. Machines can perform highly repetitive tasks better is one such color co-ordinate system, or color space.
than humans. Worker fatigue on assembly lines can result in
reduced performance, and cause challenges in maintaining B. Objectives of Project
product quality. An employee who has been performing an
inspection task over and over again may eventually fail to The main objectives of this project are
recognize the color and size of product. Automating many of
the tasks in the industries may help to improve the efficiency (i) In corporate ergonomic aspects in the development of
of manufacturing system. The purpose of this model is to sorting machine.
design and implement a system which automatically
separates products based on their color and size. To reduce (ii) Is to design and fabricate an automatic color sorting
human efforts on mechanical maneuvering different types of machine that performs the function of sorting according to the
sorting machines are being developed. These machines are color and size of object.
too costly due to the complexity in the fabrication process. A
common requirement in the field of color sorting is that of (iii) The use of this sorting machine makes the work simple
color sensing and identification. for the operator, and no longer to bend and lifts up the
materials, this reduces the cause of injuries to the operator and
A. Color Sensing and Identification increasing the work efficiency.

II. RELATED WORK

Manuscript Received April 5, 2021; Revised 25 April, 2021 and
published on May 31, 2021
Ankur Patil Department of Mechanical Engineering, G H Raisoni Rudresh H. G et. al. [1] designed an automatic material
University, Amravati, Maharashtra, India.
Dr. Y. P. Deshmukh, Assistant Professor, Department of Mechanical
handling system. It coordinates the movement of robotic arm
Engineering, G H Raisoni University, Amravati, Maharashtra, India pick the items moving on the conveyor belts. It aims in

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 International Journal of Advanced Innovative Technology in Engineering (IJAITE),
Vol.6, No.3, May 2021
E-ISSN: 2455-6491
Available online at www.ijaite.co.in

organizing the coloured objects which are approaching on the Saturation value) to separate the defective group from the
conveyor by picking and placing the objects in its separate non-defective group using Open CV.
located place. There by reducing the tedious work done by Ch. Shravani, G. Indira et. al. [6] proposed a compact
human, accomplishing accuracy and rapidity in the work. The record close to arranging of articles based totally totally on
research includes colour sensors that senses the items color shading has been implemented making use of TCS3200
and lead the signal to the controller. The microcontroller shading sensor with SERVOMOTORS associated with
guides signal to the motor driving circuit which drives the AURDINO UNO.
different motors of the robotic arm to grasp the object and Amitesha Sachdeva et. al. [7] presented the solution to sort
place it in the correct location. Depending upon the colour the coloured objects with the help of the robotic arm. The
sensed the robotic arm goes to the correct location to releases objects when placed on the conveyor belt are sorted based on
the object and comes back to the normal potion. colour sensing and are relocated to specific location. When
Amitesha Sachdeva et. al. [2] presents a solution to sort the an object moves from one location to another on the conveyor
coloured objects with the help of the robotic arm. The objects belt, the sensors give the input to the microcontroller which
when placed on the conveyor belt are sorted based on colour then gives the command to the robotic arm to do the task.
sensing and are relocated to specific location. When an object TCS3200 colour sensor is used for detection of the colour of
moves from one location to another on the conveyor belt, the the object. DC motors are used to move the conveyor belt,
sensors give the input to the microcontroller which then gives gripper and the lifter. Arduino Nano microcontroller is used
the command to the robotic arm to do the task. TCS3200 to give the commands. L293D motor driver is used to drive
colour sensor is used for detection of the colour of the object. the motors and LCD display makes the system user friendly.
DC motors are used to move the conveyor belt, gripper and
the lifter. Arduino Nano microcontroller is used to give the III. PROPOSED METHODOLOGY
commands. L293D motor driver is used to drive the motors
and LCD display makes the system user friendly. This project makes use of a simplified and not steeply-priced
Y. M. Anekar et. al. [3] proposed an efficient method technique for sorting the substances of a unique colored
which uses load cell, inductive sensor and TCS 230 colour items, it's far sensing the color of the object and kind out the
sensor for identifying and separating products on the basis of different colored devices. Servo’s automobiles are used to
their weight and colour. Microcontroller to control the overall manipulate the motion of the skittles are amassed on the
process of sorting of objects is used. The system rejects and hopper. A servo motor is used to pressure the skittles to the
discards objects that are not of required characteristics by sensor and the sensor that is interfaced with ARDUINO
pushing them out of conveyor line using a pneumatic identifies the shade of the object and the bottom servo is
cylinder. A rectangular container, having three partitions is operated as consistent with the deliver code.
used to collect objects of three different colours. One
conveyor belt is used, which is controlled by DC motors. The
belt is for placing the product to be analyzed by the load cell
and inductive sensor, which also contains a colour sensor and
weight sensor panel at the starting of conveyor for of
separating object.
Aye Myat Myat Myo et.al. [4] Presented a new approach
to recognize and sort the objects continuously and keep them
in a designated location. Nowadays, image or colors
processing attract massive attention as it leads to possibility
of widening scope of application in different field with the
help of modern technology. A color sorter is researched,
designed and created with Arduino Mega microcontroller,
TCS230 color sensor, servo motor and other electronic
components. This work involves sensors that sense the
object’s color and sends the signal to the Arduino. The
microcontroller sends signal to circuit which drives the Figure 1: Interfacing Arduino with Color Sensor and
various motors to allow the object and place it in the specified Stepper Motor
location. Based upon the detection, the hole moves to the
specified location, releases the object and comes back to the
riginal position. The system has the ability to sort the object A. Construction and Working Principle
according to their colors into respective color station in
minimum time. All we need for this Arduino project is one color sensor
Vidya V. V. et. al. [5] designed image processing (TCS3200) and two servo motors, which makes this project
techniques to achieve effective quality maintenance in food quite simple but yet very fun to build it. In the first place,
processing industries. This method works by making pair using the 3D modeling software I made the design of the color
ways comparisons between a defective group and a non- sorter and here’s its working principle:
defective group and generating the correct HSV (Hue
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 International Journal of Advanced Innovative Technology in Engineering (IJAITE),
Vol.6, No.3, May 2021
E-ISSN: 2455-6491
Available online at www.ijaite.co.in

Initially, the colored skittles which are held in the charger B. Result
drop into the platform attached on the top servo motor.

Then the servo motor rotates and brings the skittle to the color 380
360
sensor which detects its color. 340
320
300
280
260

Time in sec
After that the bottom servo motor rotates to the particular 240
220
position and then the top servo motor rotates again till the 200
180
skittle drop into the guide rail. 160
140
120
100
80
B. Components Used 60
40
20
0
Mechanical Components 1 2 3 4 5
Observations
 Hopper
 Steel Rod Sorting Machine Time Manual Time
 Size Distribution Box

Electronics Components Figure 3: Comparative analysis of Sorting machine time and

Manual time
 Arduino Nano
 TCS3200 Color Sensor From the above observation table, the time required for
 SG-90 Servo Motor conventional and automatic sorting machine is close to each
other. However, the Automatic sorting machine is suitable for
IV. RESULT AND OBSERVATION repeated and small work piece made up of soft material.
A. Time taking for sorting object The Conventional machining increases the operator fatigue
and affect the finishing of the job.
No. of Color Time Size Time Total
Spherical Distributi Taken Sorting Taken in Time
C. Comparative analysis
Object on in sec sec Taken
1 Red 5 sec 20 mm 3 sec 8 sec Parameter Automatic Sorting Conventional Sorting
1 Red 5.5 sec 25 mm 3.5 sec 9 sec Machine Machine
Speed of Operation High Moderate
1 Green 5.7 sec 30 mm 3.8 sec 9.5 sec High
6 Red and 33 sec Each 20.6 sec 53 sec Accuracy High Moderate
Rate of Production Moderate Moderate
Green size 2 Skill Required Anyone can Operated Skilled
balls Cost of Production Low High
Cost of Setup High Low
30 Red and 162 sec Each 103 sec 265 sec Safety of Operator Very High Safety Poor Safety
Green (2.7 size 5 (1.71 (4.41 Maintenance Low High
Versatility of Job Limited Have high Scope
min) balls min) min)
Fabrication Required High Amount of Moderates
Fabricated

Table 2: Sorting Machine Observation table

V. CONCLUSION
No. of Diameter of In conclusion, the automated sorting machine was
Machine Sorting Manual
Spherical Spherical successfully designed and implemented based on Arduino
Time in sec Sorting Time
Object Object in mm Nano microcontroller system. The prototype is done to sort
1 20 mm 8 sec 5 sec three different types of small spherical object about (20 mm,
1 25 mm 9 sec 5 sec
25mm 30mm respectively), and perform sorting on color and
size of objects, in order to increase the efficiency of small
1 30 mm 9.5 sec 5 sec
sorting machines instead human work. From the results of
6 Random 53 sec 60 sec sorting performance testes, the system was apple to sort
30 Random 265 sec (4.41 min) 6 min different size and color of spherical objects and all the
objectives were done successfully as proposed.

146
 International Journal of Advanced Innovative Technology in Engineering (IJAITE),
Vol.6, No.3, May 2021
E-ISSN: 2455-6491
Available online at www.ijaite.co.in

Due to using of automatic sorting machine it has been [15] Bankole I. Oladapo, V.A. Balogun, A.O.M. Adeoye a, C.O. Ijagbemi,
Afolabi S. Oluwole, I.A. Daniyan, A. Esoso Aghor, Asanta P. Simeon,
observed the sorting time of machine is reduced by greater "Model design and simulation of automatic sorting machine using
amount. As automatic sorting of objects result in increase in proximity sensor", Engineering Science and Technology, an
efficiency of machine and thus overall machining time is International Journal 19 (2016) 1452–1456..
reduced which fit best in mass production type industries. The
machine also reduces the efforts of the workers by reducing
the time spent for material handling. Reduction in employee
fatigue due automatic positioning.

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