Development of a digital system for automated movement of a pick-up conveyor for storing potatoes and vegetable crops

Automation of the process of laying potatoes and vegetable crops for storage is a significant factor in increasing production productivity. The article presents theoretical modeling of the functional parameters of a robotic clamp stacker. Based on the obtained models, a robotic clamp stacker with a digital automated motion system was developed, the development of which was carried out using the methods of classical and agricultural mechanics, automated design systems with the Solidworks and "Compass" application software packages. To reduce the contact stress of a potato tuber when it comes off the surface of the conveyor belt of a robotic clamp stacker, it is necessary to provide a device for damping the energy of the tubers falling onto the storage surface. Theoretical modeling of the energy damper when laying potatoes for storage was performed. The working surface of the vibration damper is made of rubber material and is a nonlinear elastic surface that can be restored after deformation. For the working state of the interaction of the potato tuber with the fall energy absorber, the maximum contact stress during the tuber fall is 0.107 MPa, and the displacement during the fall is 33 mm. To test the developed algorithms for the functioning of the digital system of automated movement of the robotic complex of machines for laying potatoes and vegetable crops for storage, experimental studies were conducted on the implementation of the technological process of movement along the storage facility with the definition of the main indicators of the quality and operability of the machine. The results of the potato tuber detection assessment in the storage facility for the expanded model of the artificial neural network were determined: accuracy (T = 93.9 %), reliability (P = 98.2 %), completeness level (P = 94.8 %) and assessment (F1 = 96.5 %), as well as the dependence of potato tuber detection in the storage facility on the accuracy of deepening, the accuracy of constructing the machine movement trajectory under natural and artificial lighting.

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