Development of an algorithm for controlling a robotic grain sorting system infected with fusarium

The article presents a control algorithm for a robotic system that sorts grain infected with fusarium. The relevance of the study lies in the fact that every year 15–50% of cereals worldwide become unusable due to infection with fungal spores and, if ingested by animals or humans, can cause serious health problems. Such a seed sorting system can be implemented using the optical photoluminescent method. The developed algorithm includes initialization and verification of systems, obtaining photo signals and grain identification based on reasonable criteria, followed by the launch of actuators. A program-controlled optical monitoring system for wheat, barley, and oat seeds using light and photodiodes is proposed.