Electric bayberry picker with direct cooling and fast encapsulation based on machine vision

An electric bayberry picker with direct cooling and fast encapsulation based on machine vision, comprising:

• a mechanical claw with at least three flexible fingers each equipped with a pressure sensor on a side facing a bayberry, with a collecting pipe arranged at an enclosing center of all the flexible fingers;
• an image recognition device configured for positioning and recognizing maturity of the bayberry;
• a carbon dioxide spraying device configured to spray carbon dioxide on a fruit stalk and around the bayberry to freeze the fruit stalk and reduce surface temperature of the bayberry;
• a photoelectric sensor configured to detect whether a bayberry exits an outlet of the collecting pipe;
• a liquid polyurethane foam spraying device for wrapping the bayberry exited the outlet of the collecting pipe with liquid polyurethane foam;
• a transport device configured for transporting the bayberry wrapped with liquid polyurethane foam, wherein the transport device comprises a conveyor belt mechanism and a fruit rack fixed on the conveyor belt mechanism, and the fruit rack moves along with a conveyor belt on the conveyor belt mechanism;
• and
• a control processing device configured to control the carbon dioxide spraying device to spray carbon dioxide on the fruit stalk and around the bayberry according to positioning and recognition results of the image recognition device;
• control the mechanical claw to grasp the bayberry;
• control grasping strength of the mechanical claw according to pressure signals collected by pressure sensors;
• control the mechanical claw to release the bayberry to allow the same to drop into the collecting pipe automatically after being tugged and picked;
• control the liquid polyurethane foam spraying device to spray liquid polyurethane foam on the bayberry after the photoelectric sensor detects that the bayberry exits the outlet of the collecting pipe;
• and control the transporting device to transport the bayberry that has fallen into the fruit rack after being wrapped with liquid polyurethane foam.