DEVELOPMENT OF AN ALGORITHM FOR THE OPERATION OF AN ADVANCED SORTING ROBOT FOR SORTING AGRICULTURAL PRODUCTS

A robot sorter has been proposed for sorting agricultural products, which is characterized by simplicity of design and reliability in operation, and can be used on various production lines as an independent robotic system. Four variants of the sorter robot's functioning have been established, where a distinctive feature of each variant of its operation is taking into account the number of simultaneous arrivals of sorting objects by conveyors into the sorting area. For each variant of the functioning of the sorting robot, a detailed description of the sorting of agricultural products is provided, which takes into account the influence of the main factors on the sequence of tasks. Based on the description of the functioning of the robot sorter, flowcharts of algorithms for its operation were developed. The algorithms of the sorter robot for four variants of sorting agricultural products have different implementation complexity. The simplest algorithm is for sorting agricultural products according to the fourth option, and the most complex algorithm is for the second option. At the same time, the complexity of the sorting robot's algorithm is to increase the number of cycles for checking the condition of the sorting object on the conveyor, on the basis of which the sorting object is captured, as well as to check the condition of the sorting object in the clamping clamps of mechanical hands for placing them in the appropriate boxes. The algorithms describe the cyclic operation of the sorting robot and ensure minimal energy consumption for sorting, which is achieved by rationally positioning the sorting robot in the sorting area, obtaining information about the presence of a sorting object in the sorting area, simultaneously capturing several sorting objects received by conveyors into the sorting area with clamping pliers located on mechanical arms, checking a number of conditions during which the clamping pliers located on the corresponding mechanical arm capture the sorting object located on the corresponding conveyor, followed by placing the sorting object in the designated place.