Mushroom conveying and packaging

A system adapted to convey mushrooms, comprising:

• a plurality of conveying devices for conveying individual mushrooms;
• a first conveyor having a conveyor belt adapted to transport mushrooms between a loading zone for loading the mushrooms into respective conveying devices of the plurality of conveying devices and an unloading zone for unloading the mushrooms into packaging devices;
• a filling device configured to fill packaging devices with mushrooms;
• the filling device comprising a first packaging gripper robot adapted to grasp a mushroom from a conveying device of the plurality of conveying devices and then to position the mushroom in a packaging device of the packaging devices;
• wherein the filling device further comprises a multihead weigher and a second packaging gripper robot, the multihead weigher comprising a plurality of scales;
• each scale of the plurality of scales being configured for respectively weighing a mushroom when the mushroom is positioned in its respective conveying device;
• the multihead weigher being configured for selecting a sub-plurality of mushrooms among a plurality of mushrooms weighed by the plurality of scales in order to fill a specific packaging device;
• and
• the second packaging gripper robot being adapted to grasp the selected sub-plurality of mushrooms and to deposit the sub-plurality of mushrooms in the specific packaging device;
• wherein a conveying device of the plurality of conveying devices for conveying an individual mushroom comprises:
• a conveying body having a chamber intended to at least partially accommodate the mushroom, wherein the conveying body comprises an upper surface and a lower surface opposed to the upper surface;
• the lower surface of the conveying body being configured to come into contact with the conveyor belt of the first conveyor so as to allow the conveying device of the plurality of conveying devices to be carried along by friction in order to provide individual conveying of the mushroom;
• the upper surface of the conveying body comprising an orifice enabling insertion of the mushroom into the chamber, wherein an edge of the orifice defines an upper end of the chamber;
• the chamber comprising an upper portion extending from the orifice of the upper surface of the conveying body towards the lower surface of the conveying body and being shaped to at least partially accommodate a cap of the mushroom;
• and
• the chamber comprising a lower portion extending from the upper portion of the chamber towards the lower surface of the conveying body and being shaped to accommodate a stem of the mushroom.