M.B.M.

ENGINEERING COLLEGE, JODHPUR

DEPARTMENT OF PRODUCTION & INDUSTRIAL ENGINEERING

A Project Report
On
Quality Inspection & Segregation System
In partial fulfilment of requirement for the award of the degree of
Bachelor of Engineering
In
Production and industrial Engineering

Session: 2015-2019

Submitted By: Guided by:

1. Divya Thakurani Dr. Manish Kumar
2. Madhav Garg HOD Production & Industrial
3. Shahrukh Khan Jai Narain Vyas University
4. Mohd. Nadeem Behlim Jodhpur,Rajasthan-342001
5. Mahendra Deora

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 CANDIDATE’S DECLARATON
We hereby declare that the work which is being presented in the project entitled “Quality
Inspection & Segregation System” in the partial fulfilment of requirement for the award of
the degree of Bachelor of Engineering in Production and industrial Engineering, submitted
in the department of Production & Industrial Engineering, M.B.M. Engineering College,
Jodhpur (Rajasthan) , is an authentic record of our own work carried out during the period
from March 2019 to May 2109, under the supervision of Mr. Manish Kumar, Professor,
Department of Production & Industrial Engineering, M.B.M. Engineering College, Jodhpur
(Rajasthan).

The matter embodied in this project has not been submitted by us for the award of
any other degree.

Date:
Place:

Divya Thakurani
Madhav Garg
Shahrukh Khan
Mohd. Nadeem Behlim
Mahendra Deora
B.E. Final (P&I Engg.)

CERTIFICATE

This is certified that the above statement made by the candidates is correct to the best of my
knowledge.

Dr. Manish Kumar

Professor
Department of Production &
Industrial Engineering
M.B.M. Engineering College, Jodhpur
Rajasthan-342001

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 ACKNOWLEDGMENT

We would like to thank and express our gratitude to the Production and Industrial Engineering
Department of MBM Engineering College, Jodhpur and all our professors for giving us this
opportunity to work on this project.

It has been our privilege that we had worked under the expert guidance of Dr. Manish Kumar
Professor, Department of Production and Industrial Engineering, M.B.M Engineering College,
Jodhpur. We would like to express our sincere gratitude to him for the keen interest he took
and for being a constant encouragement and support throughout this project. His way of
patiently and objectively observing the work and pinpointing the proper directions has led me
to the right track and made this a wonderful learning experience.

Our sincere heartfelt gratitude to our families whose prayers, best wishes, support, concern and
encouragement has been a constant source of inspiration to us.

Date:
Place:

Divya Thakurani
Madhav Garg
Shahrukh Khan
Mohd. Nadeem Behlim
Mahendra Deora
B.E. Final (P&I Engg.)

3
 TABLE OF CONTENTS

S.NO. Title Page No.

1. Introduction 5
2. Description of parts 6
3. Design and Circuit Diagram 12
4. Working of System 14
5. Arduino code for Inspection System 15
6. Cost Estimation 19
7. Advantage and Disadvantages 20
8. Conclusion and Future Work 21
9. References 22

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 1. Introduction

1.1 Title: Quality Inspection & Segregation System.

1.2 Objectives of Proposed System:

 This inspection system is developed to inspect the products produced in any manufacturing
system and to separate the defective products.
 This system is able to inspect the dimensions (height and length) and color of product.
 After inspecting the product the system will segregate defective products in one stack and non-
defectives in another stack.

1.3 Overview of Inspection System:

 Inspection should take place with great accuracy and at high speed with little or no human
intervention.
 It should be able to inspect at least one critical dimension (say height) and should be able to
separate the conforming items from the non-conforming ones.
 Amongst the non-conforming items the system should be able to segregate the conforming and
non-conforming items.

1.4 Application of Inspection System:

 Inspection for defects, cracks or surface blemishes
 Size and color inspection
 Component positioning inspection,
 Product quality inspection
 Dimensional accuracy verification
 Pick & place applications,
 Automated filling lines control
 Sorting of products
 Fill level inspection
 Control of bottle cap placement
 Foreign objects inspection
 Package integrity
 Label inspection
 Control of processes
 Part detection
 Verifying security features of the carton
 Safe monitoring of machine door

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 2. Description of parts

I. Arduino Mega 2560

It is a microcontroller board based on Atmega 2560 microcontroller. Arduino is an open source
microcontroller which can be easily programmed, erased and reprogrammed at any instant of
time. Introduced in 2005 the Arduino platform was designed to provide an inexpensive and
easy way for hobbyists, students and professionals to create devices that interact with their
environment using sensors and actuators. Based on simple microcontroller boards, it is an open
source computing platform that is used for constructing and programming electronic devices.
It is also capable of acting as a mini computer just like other microcontrollers by taking inputs
and controlling the outputs for a variety of electronics devices. It is also capable of receiving
and sending information over the internet with the help of various Arduino shields. Arduino
uses a hardware known as the Arduino development board and software for developing the
code known as the Arduino IDE (Integrated Development Environment). Built up with the 8-
bit Atmel AVR microcontroller's that are manufactured by Atmel or a 32-bit Atmel ARM,
these microcontrollers can be programmed easily using the C or C++ language in the Arduino
IDE.

II. IR Module :
The IR Sensor-Single is a general purpose proximity sensor. Here we use it for collision
detection. The module consist of a IR emitter and IR receiver pair. The high precision IR
receiver always detects a IR signal.
The module consists of 358 comparator IC. The output of sensor is high whenever it IR
frequency and low otherwise. The on-board LED indicator helps user to check status of the
sensor without using any additional hardware. The power consumption of this module is low.
It gives a digital output.

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 Pin No. Connections Description

1. Output Digital output (High and Low)

2. VCC Connected to circuit supply

3. Ground Connected to circuit ground

III. Ultrasonic Sensor (HC-SR04):

Ultrasonic sensors emit short, high-frequency sound pulses at regular intervals. These
propagate in the air at the velocity of sound. If they strike an object, then they are reflected
back as echo signals to the sensor, which itself computes the distance to the target based on the
time-span between emitting the signal and receiving the echo.
As the distance to an object is determined by measuring the time of flight and not by the
intensity of the sound, ultrasonic sensors are excellent at suppressing background interference.
Micro sonic ultrasonic sensors are suitable for target distances from 20 mm to 10 m and as they
measure the time of flight they can ascertain a measurement with pinpoint accuracy.

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IV. Color Sensor (TCS3200) :
The Color Sensor is a complete color detector. It consists of a TAOS TCS3200 RGB sensor
chip and 4 white LEDs. It can detect and measure a nearly limitless range of visible colors to a
certain degree. The color of an object we can see in fact is the chromatic light the object reflects
in the white light (sunlight) after it absorbs the rest ones. The white color is a mixture of various
visible colors, which means it includes each colored light like red (R), yellow (Y), green (G),
blue (B), and purple (P). Based on the theory of three primary colors, any color is made by
mixing the three primary colors (red, green, and blue) in a certain proportion.

Thus, knowing the proportion you can get the color of the tested object. For TCS3200, when a
color filter is selected, it only allows a specific primary color to pass through and blocks the
other two colors. With the light intensity value of the three primary colors, by analysis we can
know the color of light reflected to TCS3200.The TCS3200 sensor has 4 types of filter: red
filter, green filter, blue filter, and clear with no filter.

V. D.C Motor Driver ( L298N ) :

The L298N is a dual H-Bridge motor driver which allows speed and direction control of two
DC motors at the same time. The module can drive DC motors that have voltages between 5
and 35V, with a peak current up to 2A. The module has two screw terminal blocks for the
motor A and B, and another screw terminal block for the Ground pin, the VCC for motor and
a 5V pin which can either be an input or output. This depends on the voltage used at the motors
VCC. The module have an onboard 5V regulator which is either enabled or disabled using a
jumper. If the motor supply voltage is up to 12V we can enable the 5V regulator and the 5V
pin can be used as output, for example for powering our Arduino board. But if the motor voltage
is greater than 12V we must disconnect the jumper because those voltages will cause damage
to the onboard 5V regulator. In this case the 5V pin will be used as input as we need connect it
to a 5V power supply in order the IC to work properly. Next are the logic control inputs.

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 Enable A and Enable B pins are used for enabling and controlling the speed of the motor. If a
jumper is present on this pin, the motor will be enabled and work at maximum speed, and if
we remove the jumper we can connect a PWM input to this pin and in that way control the
speed of the motor. If we connect this pin to a Ground the motor will be disabled.

VI. D.C Motor:

An electric motor is an electrical machine which converts electrical energy into mechanical energy. The
basic working principle of a DC motor is: "whenever a current carrying conductor is placed in a
magnetic field, it experiences a mechanical force". We have used two D.C motors, one with 30 rpm
(12V) for running the conveyor belt and second with 100 rpm (12V) for push arrangement.

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VII. Optical Encoder:
The optical encoder has an LED light source, a light detector, a “code” disc/wheel mounted on the
shaft, and output signal processor. The disc has alternating opaque and transparent segments and is
placed between the LED and detector so it intermittently interrupts the LED’s beam as it rotates. The
detector responds to the series of light pulses it receives and sends that information to the processor,
which actually extracts the motion information (both amount of rotation and direction).

VIII. Rollers:
Rollers are mounted on the wooden pillars and conveyor belt is rotating over hub. Two rollers
are used to drive the conveyor belt. This rollers are made up of Aluminum alloy.

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IX. Rack and Pinion:
The push arrangement is made by rack and pinion. The pinion has 16 teeth and rack of 15cm
with 32 teeth. The rack and pinion arrangement is energized with the motor which is getting
instructions from motor driver L298N.

X. Other Components: Bread board, Wires, Adapters, Conveyor Belt, Wooden work-table.

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3. Design and Circuit Diagram

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 Design of optical encoder disk for width measurement:
Inner axis diameter (diameter of roller) =28.127mm
Diameter of optical encoder = 64.685mm
Numbers of holes on disc= 50
Now,
1 wheel revolution= 1 motor revolution
1 motor revolution = 50 encoder ticks (i.e. 50 times a light is detected by a photo
sensor)
Now again,
Circumference of roller = π*D
= 3.14*28.127 mm
= 88.31878 mm
Now in 1 revolution of wheel, the distance moved by conveyor is equal to the
circumference of roller
Hence,
Distance moved in 1 wheel revolution = 88.31878 mm,
Distance moved in one move of hole = 88.31878/50 mm
= 1.76637 mm

 Dimensions of work piece:

The cuboidal work piece is used for the inspection, having
 Length = 6cm
 Width = 4cm
 Height = 8.3cm

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 4. Working of System

The inspection system consist of a conveyor system fitted with readily available Ultrasonic
Sensor, IR Sensor, Color Sensor, DC Motor, DC Motor driver, rack and pinion
arrangement (to push the defective work piece) etc. the arrangement is shown in figure.
The conveyor carries the parts from the loading point of the system, at which parts are
placed manually, for the purpose of inspection.

1. Measurement of length:
For the measurement of length optical encoder arrangement has been used.
When the conveyor presents the part in front of 1st IR Sensor (a). This IR Sensor detects
the presence of product and from this point the microcontroller starts counting the number
of holes passing in front of the photodiode and LED (this is the IR sensor which is mounted
on the bottom side of the optical encoder disc). Now, microcontroller performs its
calculation and confirms the length of the product with the desirable length.

2. Measurement of height:
For the measurement of height ultrasonic sensor and two IR sensors are used.
Now, when the part moves and come in front of two IR’s (mounted on both side of the
supporting frame), the ultrasonic sensor receives an indication, that parts are just below it,
and at this time the sensor sends the wave from transmitting end and receive it from
receiving end. Now, as speed of sound in air is constant (i.e. 343m/s), which is much higher
than the speed of conveyor. So, the sensor measures the time of travel of wave and by this
the distance between the sensor and the item is computed. Now for the measurement of
height, this distance is subtracted from the distance between conveyor and sensor.

3. Measurement of Color:
When the item passes in front of the color sensor, it measures the color of object using
following principle.
TCS3200 chip is designed to detect the color of light incident on it. It has an array of
photodiode (a matrix of 8x8, so a total 64 sensors). These photodiodes are covered with
four type of filters. Sixteen sensor have RED filter over them thus can measure only the
component of red in the incident light. Likewise other sixteen have GREEN filter and
sixteen have BLUE filter. Any visible color can be broken into three primary colors. So
these three type of filtered sensors helps measure the weightage of each of primary colors
in incident light. The rest 16 sensors have clear filter. TCS3200 converts the intensity of incident
radiation into frequency. Pins S0 and S1 are used for scaling the output frequency. It can be
scaled to the following preset values: 100%, 20% or 2%. Scaling the output frequency is
useful to optimize the sensor readings for various frequency counters or microcontrollers.
By selectively choosing the photodiode filter’s readings it is able to detect the intensity of
the different colors. The sensor has a current-to-frequency converter that converts the
photodiodes’ readings into a square wave with a frequency that is proportional to the light
intensity of the chosen color. This frequency is then, read by the Arduino and it gives the
color of given object
If any of these three measured characteristics does not match to the characteristics of the
desired item/part, the rack pushes the product sideways and if all specifications are met
then product reach to the end point of conveyor.

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 5. Arduino Coding for Inspection System

CONST INT TRIG = A1; //PIN OF ULTRASONIC SENSOR

CONST INT ECHO = A0; //PIN OF ULTRASONIC SENSOR
CONST INT BUZZER=A2; // BUZZER/LED TO INDICATE THE REJECTION
CONST INT M_A = 3; // MOTOR PIN USED FOR REJECTION
CONST INT M_B = 4; // MOTOR PIN USED FOR REJECTION

CONST INT MM_A = 5; // MOTOR PIN USED FOR LINE

CONST INT MM_B = 6; // MOTOR PIN USED FOR LINE
CONST INT ERROR_LED=13; // LED TO SHOW THE OBJECT IS BEING REJECTED
FLOAT A;
LONG UNSIGNED INT B;
INT C;
INT FREQUENCY = 0; //FOR COLOUR SENSOR
INT RED=0; // FOR RED
INT BLUE = 0; //FOR BLUE
INT GREEN = 0; // FOR GREEN
INT HEIGHT; //HEIGHT OF SAMPLE
INT X,Y; //THIS IS USED FOR DETECTION OF OBJECT
INT ERROR=0;//STATE OF OBJECT

CONST INT ENCODER_PIN = 8; //PIN OF OPTICLE ENCODER

CONST INT INTERRUPT_PIN = 2; //IR USED TO CHECK AND INSPECTION OF
LENGTH
UNSIGNED INT TICKS = 0; // NO OF COUNT OF HOLES IN OPTICLE ENCODER
FLOAT LENGTH_OF_BOX = 0; //LENGTH OF BOX BY OPTICLE ENCODER
INT NEXT_TICKS=0,NET_TICKS=0,PREVIOUS_TICKS=0; //FOR CALCULATION OF
LENGTH

VOID SETUP() {
// DECLARATION OF PIN FOR INPUT/OUTPUT PURPOSE
PINMODE(A0, INPUT);
PINMODE(A1, OUTPUT);
PINMODE(BUZZER, OUTPUT);
PINMODE(ERROR_LED,OUTPUT);
PINMODE(12,INPUT_PULLUP);
PINMODE(31,INPUT_PULLUP);
PINMODE(5,INPUT);
PINMODE(M_A,OUTPUT);
PINMODE(M_B,OUTPUT);

PINMODE(MM_A,OUTPUT);
PINMODE(MM_B,OUTPUT);
DIGITALWRITE(MM_A,LOW);
DIGITALWRITE(MM_B,HIGH);
PINMODE(40,OUTPUT);//S0
PINMODE(41,OUTPUT);//S1
PINMODE(42,OUTPUT);//S2
PINMODE(43,OUTPUT);//S3

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PINMODE(44,INPUT);// OUTPUT OF COLOR SENSOR

PINMODE(ENCODER_PIN,INPUT_PULLUP); //PIN OF ENCODER

PINMODE(INTERRUPT_PIN,INPUT_PULLUP);//PIN OF INTERRUPT FOR ENCODER

SERIAL.BEGIN(9600); //START SERIAL WITH BRAUD RATE 9600

/////////////////////
//// 2% OF OUTPUT OF COLOUR SENSOR
///////////////////
DIGITALWRITE(40,HIGH);//S0
DIGITALWRITE(41,HIGH);//S1
}

VOID LOOP() {
// FOR CALCULATION OF LENGTH OF SAMPLE
WHILE(DIGITALREAD(INTERRUPT_PIN)==HIGH){
IF (DIGITALREAD(ENCODER_PIN) == CHANGE)
{
TICKS++;

DELAY(72);
}
IF (DIGITALREAD(INTERRUPT_PIN)==LOW)
{

NEXT_TICKS=TICKS;
NET_TICKS=NEXT_TICKS - PREVIOUS_TICKS;

LENGTH_OF_BOX = (NET_TICKS)*(0.176637);
////FOR PRINTING THE PARAMETERS OF OPTICAL ENCODER
/*SERIAL.PRINT(TICKS);
SERIAL.PRINT(" ");
SERIAL.PRINT(PREVIOUS_TICKS);
SERIAL.PRINT(" ");
SERIAL.PRINT(NEXT_TICKS);
SERIAL.PRINT(" ");
SERIAL.PRINT(NET_TICKS);
SERIAL.PRINT(" ");

SERIAL.PRINT(LENGTH_OF_BOX);
SERIAL.PRINTLN("CM");
*/
PREVIOUS_TICKS=TICKS;
BREAK;
}
}
// FOR HEIGHT OF SAMPLE
DIGITALWRITE(TRIG, HIGH);
DELAY(10);
DIGITALWRITE(TRIG, LOW);

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A = PULSEIN(ECHO, HIGH)/2;
B = A/74;
C = A;
//SERIAL.PRINT(B);
//SERIAL.PRINT(" ");
//SERIAL.PRINT(C);
//SERIAL.PRINT(" ");

HEIGHT = MAP(C,90,345,9,0);
//SERIAL.PRINT(HEIGHT);
//SERIAL.PRINTLN("CM");
X=DIGITALREAD(12);
Y=DIGITALREAD(31);
IF(C>349 && C<352)
{
C=350;
}
IF(C>110 && C>120){
C=105;}
// FOR COLOR SENSOR
// FOR RED
DIGITALWRITE(42,LOW);
DIGITALWRITE(43,LOW);
FREQUENCY = PULSEIN(44,LOW);
RED=FREQUENCY;
// FOR GREEN
DIGITALWRITE(42,HIGH);
DIGITALWRITE(43,HIGH);
FREQUENCY = PULSEIN(44,LOW);
GREEN=FREQUENCY;
// FOR BLUE
DIGITALWRITE(42,HIGH);
DIGITALWRITE(43,HIGH);
FREQUENCY = PULSEIN(44,LOW);
BLUE=FREQUENCY;

// IF THE SAMPLE IS NOT PERFECT

IF((X==HIGH && Y==HIGH) &&((HEIGHT<9 || HEIGHT>9) || (/*(RED<10 || RED> 15) ||
*/(GREEN<25 || GREEN>45) || (BLUE<25 || BLUE>45)) ||(LENGTH_OF_BOX<6.00 ||
LENGTH_OF_BOX>7.00)))
{
DELAY(100);
SERIAL.PRINT(HEIGHT);
SERIAL.PRINT(" ");
SERIAL.PRINT(RED);
SERIAL.PRINT(" ");
SERIAL.PRINT(GREEN);
SERIAL.PRINT(" ");
SERIAL.PRINT(BLUE);
SERIAL.PRINT(" ");

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SERIAL.PRINT(LENGTH_OF_BOX);
SERIAL.PRINTLN("CM");

ERROR=1; // CHANGE THE STATE OF ERROR

DIGITALWRITE(ERROR_LED,HIGH);
DELAY(100);
DIGITALWRITE(ERROR_LED,LOW);

DELAY(2500);
}
ELSE{
ERROR=0;
RED=0;BLUE=0;
GREEN=0;
}

// FOR REJECTION
IF(ERROR==1){
DELAY(1100);
DIGITALWRITE(BUZZER,HIGH);
DIGITALWRITE(M_A,HIGH);
DIGITALWRITE(M_B,LOW);
DELAY(200);
DIGITALWRITE(M_A,LOW);
DIGITALWRITE(M_B,LOW);
DIGITALWRITE(M_A,LOW);
DIGITALWRITE(M_B,HIGH);
DELAY(200);
DIGITALWRITE(M_A,LOW);
DIGITALWRITE(M_B,LOW);
DIGITALWRITE(BUZZER,LOW);
ERROR=0;
RED=0;
BLUE=0;
GREEN=0;
}

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 6. Cost Estimation

The cost report of Quality Inspection and Segregation System is represented here:
S Component QTY. Specifications Cost
No.
1. Arduino Mega 1 ATmega2560,5V, 54 I/O 800
pins
2. DC Gear Motor 1 30RPM ,12V 180
3. DC Gear Motor 1 100RPM,12V 180
4. IR Sensor 4 30cm obstacle detection 160
sensor FC-51
5. Ultra Sonic Sensor 1 HC-SR04 120
6. Color Sensor 1 TCS 3200 250
7. Supporting Frame 2*2 feet Card-Board 70
(2)
8. Rollers(cylindrical) 2 Ø2cm, L=6cm (metallic) 100
9. Rubber Belt 2 meters Rubber(Material) 100
10. Rack 1 Length 15cm 50
11. Pinion 2 No. of teeth= 16 60
12. Gears 3 No. of teeth= 32 120
13. Adaptor 1 12V-2A 180
14. Adaptor 1 9V-2A 120
12. Wires 90 Male, Female connecting 380
wires
13. Strip wire 4 1 foot 56
14. Glue gun Stick 1 - 30
15. Driver 1 L298D 200
16. Buzzer 1 5-20V (voltage) 25mA 25
(Current)
17. LED 2 3 Volt, 20mA 10
18. Optical Encoder Disc 1 Pine wood disk 50
19. Acrylic sheet 2*2feet For casing 32
20. Breadboard 1 Tie-points = 640, Tie- 80
points = 200. Total Tie-
points = 840.
Dimensions = ( 175 X 67
X 8 mm ).
21. Female jack 2 DC power jack supply 10
socket
22. Grinding Cutter 1 - 150
23. Cable 1 USB 2.0 Cable 50
24. Miscellaneous - Laser cutting of optical 252
encoder, tapes etc.
TOTAL 3815

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 7. Advantages and Disadvantages

 Advantages of Inspection System:

1. The proposed system supports 100% inspection & can be readily adjusted to serve for
inspection of different part sizes, shapes and dimensions.
2. It separates the conformities from non-conformities and segregates at two different
places. Thus it incorporates economy of effort and time.
3. It eliminates forced and unforced human error.
4. Since the system works on a method based on non-contact principles, the product
remains untouched right through the inspection cycle. It is particularly of great use in
hygiene conscious environment.
5. It is an integral part of materials handling system, it neither requires extra space nor
time for carrying out the work of inspection and segregation.
6. It can conveniently be made to serve as an SQC aid as the exact number of over-made
and under-made parts can easily be found out.
7. This system is flexible in nature, by changing the code a new type of product can be
made.

 Disadvantages of Inspection System:

1. The concept aims at complete automation of the inspection process, the proposed
system requires a person to position the object on the conveyor.
2. There is always a possibility of color sensor catching natural light and giving the
wrong color. So, it is require to maintain the ambient light.
3. If a component accidently topples over, the system can neither detect, nor correct the
situation. It shall be dealt with in the same manner as regular components are dealt
with and may end up being pushed into the bin for undersized products.
4. The sensitivity of ultrasonic sensor is low, which produces error of around 5mm this
is too high value in today’s age of nanotechnology.
5. The conveyor material showed sag and played truant with the datum for inspection.
The belting had to be reinforced with stiffness and compromises had to be made with
the life of conveyor.

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 8. Conclusion and Future Work
 The designed system exhibits satisfactory performance when run with an assortment of
undersized, oversized and right sized products.
 It also demonstrate that this system is economical and fulfills the objectives that were
required from the system at design stage.
 Improvements that can be done-
1. Robotic arm could have been added to place the products on the products on the
conveyor belt. This would have eliminated the human intervention for placing
them the right side up.
2. The laser based sensor may be used in spite of ultrasonic sensor. This will
increase the cost but it will also improve the accuracy of the system
tremendously.
3. Proximity sensor may be utilized at strategic position to guard against the
toppling of product

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 9. References:
 https://www.analogictips.com/rotary-encoders-part-1-optical-encoders/
 https://www.elprocus.com/infrared-ir-sensor-circuit-and-working/
 https://www.instructables.com/id/Use-of-Ultrasonic-Sensor-to-Measure-Distances/
 https://www.scribd.com/document/85588416/Color-Sensor-Working
 https://www.rhydolabz.com/documents/Color-Sensor-UserManual.pdf
 http://files.microjpm.webnode.com/200001259-eb551ec509/Color-Sensor-working-
principle-and-Arduino-Code.pdf
 https://www.microsonic.de/en/support/ultrasonic-technology/principle.htm
 https://www.instructables.com/id/Everything-you-need-to-know-about-colour-sensors/
 https://howtomechatronics.com/tutorials/arduino/arduino-dc-motor-control-tutorial-l298n-
pwm-h-bridge/
 http://wiki.sunfounder.cc/index.php?title=Color_Sensor_Module

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