Development of a control system for sorting agricultural products according to specified criteria

The article presents a process control system for sorting agricultural products. The technological process of sorting is described, the composition of the system is indicated, the sorting algorithm is developed. ProgramLab software was used as the modeling environment. Color and weight were selected as sorting criteria. The parameters at the input of the control object, which have the greatest influence on the process were selected. The output parameters were the conveyor speed and the final position of the sorting object. A scheme of cause-and-effect relationships of the sorting process is obtained. A block diagram of the sorting process has been developed. A mathematical model for calculating the speed of a conveyor depending on the distance between the robotic arm and the conveyor, as well as between the robotic arm and the parts unloading points was obtained. A 3d model of the sorting process has been developed. Three basic scenarios for the location of places for unloading agricultural products are considered. The introduction of the developed system will help reduce number of rejects during sorting, increase the efficiency of the sorting process and improve economic performance. Improving the sorting process will help reduce equipment wear and extend equipment life.