DOI: yy.yyyy/IUCJEAS., 2024.Vol 3., Issue.

Iraq University College Journal of Engineering and Applied

Sciences

Automated Colour Sorting System Using Arduino

and TCS3200 Sensor
Wurood Fadhil 1, a, Hamzah Hadi Qasim2, b,, Hussein A. Jasim3, c,,Aqeel Adel Yaseen4,d,*
1 Computer Technology Engineering Department, Iraq University College, Basrah-Iraq.
2 Computer Technology Engineering Department, , Iraq University College| Department of oil and gas
engineering ,Basra University for Oli and Gas Engineering, Basrah-Iraq.
3 Computer Technology Engineering Department, Iraq University College| Department of Computer
Science, College of Computer Science and Information Technology, University of Basrah, Basrah –
IRAQ.
4 Computer Technology Engineering Department, Iraq University College, Basrah-Iraq
E-mail: a [email protected] , b, [email protected] , c,[email protected], d,*
[email protected]

Abstract. This project focuses on the design and implementation of an automated color sorting machine
utilizing Arduino microcontroller and servo motors. The system integrates several key components,
including a TCS3200 color sensor for color detection and multiple servo motors for precise movement
of objects. Designed using AutoCAD software, the project encompasses the creation of 3D printed and
CNC machined parts, facilitating the construction of the mechanical structure. The electronic circuit
involves connecting the color sensor and servo motors to the Arduino, which processes the color data
and controls the motors to sort objects into designated bins based on their colors. The programming is
executed using Arduino IDE, which is based on C++. The system's functionality is enhanced through
careful calibration and optimization, ensuring high accuracy and efficiency. The machine is designed
for applications in various industries, such as agriculture, food, and recycling, where color-based sorting
is essential. This chapter delves into the detailed design process, electronic circuit connection,
component integration, and operational workflow of the color sorting machine, demonstrating its
potential for real-time and automated sorting tasks.

Keywords: Sensor colour, Sensor TCS3200, Arduino UNO R3.

Iraq University College Journal of Engineering and Applied Sciences Volume 3, Issue 1
Received 25/03/2024
Accepted 11/05/2024
Published 30/06/2024
Online at https://magazine.iuc.edu.iq/journal/
DOI:yy.yyyy/ IUCJEAS.2024.xx.x.xx

Iraq University College Journal of Engineering and Applied Sciences Volume 3 Issue 1, ISSN 2790-704X; 2790-7058 (https://magazine.iuc.edu.iq/journal/)
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1. Introduction

In the rapidly evolving manufacturing sector, enhancing production efficiency is a key driver of
success. As industries strive to increase manufacturing speed, reduce labor costs, and minimize
downtime, automation becomes an essential solution. Sorting products at various stages of
production is a crucial task that traditionally relies on manual labor, which is both time-consuming
and labor-intensive. However, with advancements in technology, automated sorting systems have
emerged as a viable alternative [1].
Colour sensors play a pivotal role in these automated systems. These sensors detect colours by
analyzing the reflected light from objects, making them invaluable in various applications such as
sorting objects by colour, quality control systems, and enhancing printer colour performance. The
TCS3200 colour sensor, in particular, provides accurate colour detection, contributing significantly
to the automation of sorting processes [2].
This project focuses on designing and implementing an Arduino-based colour sorting machine
using the TCS3200 sensor. The system is designed to detect and sort objects based on their colour,
utilizing the Arduino microcontroller to process data from the sensor and control servo motors for
object manipulation. By leveraging 3D printing and CNC machining for creating machine parts, the
project aims to offer a cost-effective and efficient solution for automated colour sorting [3][4].
The project is divided into two main parts: the electronic circuit and the software. The
electronic circuit involves connecting the TCS3200 colour sensor and servo motors to the Arduino,
while the software component involves programming the Arduino to process colour data and
control the motors. The overall goal is to create a reliable and accurate colour-sorting machine that
can be used in various industries, including agriculture, food processing, recycling, and more [5][6].
This introduction sets the stage for the detailed exploration of the project's design and
implementation, highlighting the importance of automation in manufacturing and the role of colour
sensors in achieving efficient sorting solutions [7][8].

2. Related Work

2.1 Introduction

In this related work explores the theoretical foundations of colour sensing and differentiation
reviews the components used in colour detection systems, and summarizes relevant projects.
Understanding the principles of colour sensing is crucial for developing efficient and accurate
colour sorting machines. The interaction between an object's surface, light, and an observer
determines the perceived colour, which is quantified using various colour spaces like the RGB
model. This review focuses on the application of RGB colour sensors in sorting systems,
emphasizing their practicality and versatility in manufacturing processes [9][10].

2.2 Theory of Colour Sensing

Colour sensing relies on measuring light intensity across different wavelengths. One approach
involves using a spectrometer to split light into its component wavelengths, but this method is
complex [11]. A simpler and more common method uses sensors to measure light intensity in three
primary colour bands: red, green, and blue (RGB). This method allows for accurate colour detection
by analyzing the proportions of these primary colours. For instance, pure magenta light can be
identified by a 1:0:1 ratio of red to green to blue light in the RGB colour space [12][13].

2.3 Components of Colour Sensing Systems

2.3.1 TCS3200 Colour Sensor

The TCS3200 colour sensor module is widely used for colour detection. It contains an array of
photodiodes, each sensitive to red, green, blue, or white light. These photodiodes are arranged in an

2 Iraq University College Journal of Engineering and Applied Sciences Volume 3 Issue 1, ISSN 2790-704X; 2790-7058 (https://magazine.iuc.edu.iq/journal/)
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8x8 grid, allowing the sensor to measure light intensity for each primary colour. The sensor outputs
a frequency proportional to the light intensity, which can be read by a microcontroller. This module
is programmable, enabling customization for various applications. Figures 1 to 4 illustrate the
TCS3200 sensor and its microscopic RGB matrix array [14][15].

Fig .1. Color Sensor

Fig .2. Microscopic view of TCS3200 chip

Fig .3. Microscopic view of RBG Matrix Array

Iraq University College Journal of Engineering and Applied Sciences Volume 3 Issue 1, ISSN 2790-704X; 2790-7058 (https://magazine.iuc.edu.iq/journal/)
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Fig .4. Color Sensor TCS3200 Pin Description

2.3.2 Arduino Microcontroller

Arduino microcontrollers are popular in prototyping and educational projects due to their
simplicity and versatility. They can read inputs from sensors and control outputs like motors and
LEDs. The Arduino Uno, can be powered via USB or an external power supply. It features multiple
input and output pins for connecting various components, making it suitable for controlling the
TCS3200 colour sensor. Figures 5 show the Arduino Uno board and its components [16].

Fig .5. Arduino UNO Board

2.4 Relevant Projects

2.4.1 Application in Manufacturing

We noticed that the related work emphasized the importance of sensors in manufacturing,
where they transform physical stimuli into electrical signals for analysis. Colour sensors,
particularly those using the RGB model, are essential for sorting and quality control applications.
They can detect multiple colours, making them versatile for various manufacturing processes [17].

2.4.2 Colour-Based Sorting System

Also, we in the literature review describe a system for sorting objects based on colour using an
Arduino controller and a colour sensor. The system detects the colour of objects on a conveyor belt
and sorts them into different bins. The colour sensor provides RGB values, allowing the system to
distinguish between 16.7 million colour shades with 8-bit accuracy [18].

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2.4.3 Line Following and Colour Detection Robot

The robot is designed to navigate autonomously by following a black line on a white platform,
achieved through an array of photoresistors for precise line detection. Additionally, it utilizes an IR
sensor to detect obstacles in its path, ensuring safe traversal. Furthermore, an RGB color sensor
enhances its functionality by enabling the robot to identify and distinguish between various colors
accurately. This integrated sensor array empowers the robot to navigate dynamically and respond
intelligently to its environment, showcasing the versatility and effectiveness of sensor technologies
in robotic applications [19].

2.4.4 Real-Time Colour Inspection and Selection

The system is designed for real-time inspection and selection of objects based on color using
advanced image processing techniques. It captures images in real time and processes them to detect
specific colors, enabling precise sorting of objects according to predefined criteria. This application
showcases the potential of image processing in developing sophisticated sorting systems that
enhance efficiency and accuracy in various industries. By leveraging real-time image analysis, the
system exemplifies how technology can automate and streamline complex tasks, demonstrating its
transformative impact on industrial processes and logistics [20].

2.4.5 Colour Recognition for the Visually Challenged

The prototype utilizes an Arduino microcontroller in conjunction with an RGB color sensor to
detect colors accurately. This technology plays a crucial role in assistive devices aimed at aiding
visually challenged individuals. By converting color information into audible speech, the system
empowers users to independently identify and differentiate colors in their surroundings. This
application of color sensors demonstrates their pivotal role in enhancing accessibility and autonomy
for visually impaired individuals [21].

3. Methodology

The methodology for designing and implementing a color sorting machine involves using
AutoCAD software to create detailed 3D printable parts for the machine structure, integrating
electronic components such as the Arduino microcontroller for processing, the TCS3200 color
sensor for color detection, and servo motors for precise object movement, and programming the
system using Arduino IDE to develop algorithms that accurately interpret color data and control the
servo motors to sort objects into designated bins based on their detected colors, with iterative
testing and calibration to ensure high accuracy and efficiency in various operational conditions.

4. Result and Discussion

The colour detection machine, integrated with servo motors and a TCS3200 colour sensor,
effectively identifies and sorts objects based on their colour. During testing, the system accurately
detected colours such as red, yellow, and blue, illuminating corresponding LEDs and moving servo
motors to designated positions with precision. This functionality demonstrates the successful
implementation of colour sensing and servo motor control in automating the sorting process.
The performance of the colour detection machine hinges on several critical factors. Firstly, the
accuracy and reliability heavily rely on the calibration of the TCS3200 colour sensor. Calibration
ensures that the sensor can distinguish between different shades and intensities of colours
accurately, thereby minimizing errors in sorting operations. Additionally, the precision of servo
motor control plays a crucial role in the system's functionality, as it determines the exact
positioning of objects based on colour detection.

Iraq University College Journal of Engineering and Applied Sciences Volume 3 Issue 1, ISSN 2790-704X; 2790-7058 (https://magazine.iuc.edu.iq/journal/)
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While the system demonstrated commendable performance in controlled environments,

challenges such as variations in ambient lighting and object textures can impact colour detection
accuracy. These factors necessitate further improvements in sensor calibration techniques and
possibly integrating ambient light sensors to dynamically adjust sensor parameters. Moreover,
enhancing the resolution and sensitivity of the colour sensor could broaden the range of detectable
colours and improve overall sorting efficiency.
Furthermore, the system's robustness against environmental conditions such as temperature and
humidity should be considered for applications requiring continuous operation in diverse settings.
Addressing these environmental factors could enhance the system's reliability and longevity.

5. Conclusion

The Automated Colour Sorting System Using Arduino and TCS3200 Sensor has proven to be a
highly effective solution for automated colour detection and sorting tasks. By leveraging the
TCS3200 sensor's precise colour recognition capabilities and Arduino's flexibility, this system
offers efficient sorting processes with minimal error rates. Its potential applications span across
various industries, from manufacturing to recycling, promising increased efficiency and reduced
operational costs. As technology advances, further enhancements in sensor accuracy and system
integration could pave the way for even more sophisticated automated sorting solutions. Also, we
can see the future work for this project includes exploring machine learning integration for
enhanced color classification accuracy, developing automated calibration routines for sensor and
servo motor alignment, and investigating IoT integration for remote monitoring and data analytics
capabilities.

References

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[2] A. R. Mohd Khairudin, M. H. Abdul Karim, A. A. Samah, D. Irwansyah, M. Y. Yakob, and N.
M. Zian, “Development of Colour Sorting Robotic Arm Using TCS3200 Sensor,” in 2021 IEEE
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[3] S. Khan, T. Anika, N. Sultana, F. Hossain, and M. Uddin, “Color Sorting Robotic Arm,” 2019.
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[8] M. Surbakti et al., “Development of Arduino Uno-Based TCS3200 Color Sensor and Its
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[9] M. Seelye, G. Sen Gupta, D. Bailey, and J. Seelye, “Low cost colour sensors for monitoring
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Technology Conference, 2011, pp. 1–6. doi: 10.1109/IMTC.2011.5944221.

[10] P. Sari, T. Nasution, K. Sebayang, and R. Banurea, “A real-time phytoplankton growth
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[11] S. Zhou, X. Wang, M. Wang, and Y. Zhang, “Simple colour image cryptosystem with very high
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[12] B. Manjunath, J. R. Ohm, V. Vasudevan, and A. Yamada, “Color and Texture Descriptors,”
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[14] jin-ho Kang et al., “RGB arrays for micro-LED applications using nanoporous GaN embedded
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[15] M. Harfouche et al., “Imaging across multiple spatial scales with the multi-camera array
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[16] F. Sulimro, G. Santoso, A. Josephine, and N. Prabowo, “Arduino Microcontroller Boards in
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[17] R. Li et al., “Application study of RGB color extraction in water toxicity detection,”
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[18] S. Vandana, K. Sai, P. Rohila, and V. Manideep, “PLC Operated Colour Based Product Sorting
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Using Color Feature,” Sensors, vol. 20, no. 9, 2020, doi: 10.3390/s20092699.
[20] C.-N. Nguyen, V.-T. Vo, and N. Cong Ha, “Developing a computer vision system for real-time
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[21] S. Vaidya, N. Shah, N. Shah, and R. Shankarmani, “Real-Time Object Detection for Visually
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Control Systems (ICICCS), 2020, pp. 311–316. doi: 10.1109/ICICCS48265.2020.9121085.

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Wurood Fadhil Abbas SCP obtained a Bachelor of Science degree

in Computer Engineering from Iraq University College (IUC), Iraq, in
the year 2014.She obtained a Master of Science degree in Computer
and Communication Engineering from Universiti Putra Malaysia
(UPM), Malaysia, in 2022. Currently, she is a PhD Student in
Computer and embedded System Engineering in the College of
Engineering at Universiti Putra Malaysia (UPM), Malaysia, in the year
2023. Moreover, she is a lecturer at Iraq University College,
specifically within the Department of Computer engineering techniques, Computer and
Communication engineering. The researcher's current areas of interest encompass the Internet
of Things (IoT), Wireless Sensor Networks (WSN), deep reinforcement learning, and artificial
intelligence. She can be contacted at email by [email protected]

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‫يجهت كهٍت انعشاق انجايعت نههُذست وانعهىو انخطبٍمٍت‬

‫نظام فرز األلوان اآللي باستخدام مستشعر ‪ Arduino‬و‪TCS3200‬‬

‫‪،‬حسٍٍ عهً جاسى ‪،3‬ث ‪،‬عمٍم عادل ٌاسٍٍ‬ ‫‪،2‬ب‬

‫‪ ،‬حًضة هادي لاسى‬ ‫‪،1‬أ‬
‫وسود فاضم عباط‬
‫‪ 1‬قسم هندسة تقنيات الحاسوب ‪ --‬كلية العراق الجامعة‪ --‬البصرة‪ --‬العراق‪.‬‬
‫‪ 2‬قسم هندسة تقنيات الحاسوب ‪ --‬كلية العراق الجامعة| قسم هندسة النفط والغاز‪ --‬جامعة البصرة لهندسة النفط والغاز‪ --‬البصرة‪ --‬العراق‪.‬‬
‫‪ 3‬قسم علوم الحاسوب – كلية علوم الحاسوب وتقنية المعلومات – جامعة البصرة | كلية العراق الجامعة – البصرة ‪ --‬العراق‬
‫‪ 4‬قسم هندسة تقنيات الحاسوب‪ --‬كلية العراق الجامعة ‪ --‬البصرة‪ --‬العراق‬
‫ب‪،‬‬
‫البريد االلكتروني‪ [email protected] :‬أ‪[email protected] ،‬‬
‫د‬
‫‪ [email protected]‬ث ‪[email protected] ،‬‬

‫انًهخص‪ٌ :‬شكض هزا انًششوع عهى حصًٍى وحُفٍز آنت فشص األنىاٌ اَنٍت باسخخذاو يخحكى ‪ Arduino‬ويحشكاث يؤاصسة‪.‬‬
‫ٌذيج انُظاو انعذٌذ يٍ انًكىَاث انشئٍسٍت‪ ،‬بًا فً رنك يسخشعش األنىاٌ ‪ TCS3200‬الكخشاف األنىاٌ ويحشكاث يؤاصسة‬
‫يخعذدة نهحشكت انذلٍمت نألشٍاء‪ .‬حخضًٍ انذائشة اإلنكخشوٍَت حىصٍم يسخشعش األنىاٌ وانًحشكاث انًؤاصسة بـ ‪،Arduino‬‬
‫انزي ٌعانج بٍاَاث األنىاٌ وٌخحكى فً انًحشكاث نفشص انكائُاث فً صُادٌك يخصصت بُا ًء عهى أنىاَها‪ٌ .‬خى حُفٍز انبشيجت‬
‫باسخخذاو ‪ Arduino UNO R3‬انًبًُ عهى نغت ‪ .++C‬وٌخى حعضٌض وظائف انُظاو يٍ خالل انًعاٌشة وانخحسٍٍ انذلٍمٍٍ‪،‬‬
‫يًا ٌضًٍ انذلت وانكفاءة انعانٍت‪ .‬حى حصًٍى اَنت نخطبٍماث فً يخخهف انصُاعاث‪ ،‬يثم انضساعت واألغزٌت وإعادة انخذوٌش‪،‬‬
‫أيشا ضشوسًٌا‪ٌ .‬خعًك هزا انفصم فً عًهٍت انخصًٍى انخفصٍهٍت‪ ،‬واحصال انذوائش‬ ‫حٍذ ٌكىٌ انفشص عهى أساط انهىٌ ً‬
‫اإلنكخشوٍَت‪ ،‬وحكايم انًكىَاث‪ ،‬وسٍش انعًم انخشغٍهً َنت فشص األنىاٌ‪ ،‬يًا ٌىضح إيكاَاحها نًهاو انفشص اَنً فً انىلج‬
‫انفعهً‪.‬‬

‫انكهًاث انشئٍسٍت ‪ :‬يسخشعش انهىٌ‪ ،‬يسخشعش ‪.Arduino UNO R3 ،TCS3200‬‬

‫)‪Iraq University College Journal of Engineering and Applied Sciences Volume 3 Issue 1, ISSN 2790-704X; 2790-7058 (https://magazine.iuc.edu.iq/journal/‬‬
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