This invention relates to the field of automated litchi harvesting technology, specifically a high-low staggered harvesting device and method for harvesting litchi from the entire
tree canopy. The device includes a walking mechanism, a high-low staggered double
robotic arm, a flexible clamping mechanism, a curved guide rail mechanism, a shearing device, a control device, and an
identification device. The
identification device and shearing device are mounted on the robotic arms. The low-position 6-DOF
robotic arm is mounted on the slide of the curved guide rail mechanism. The high-position 3-DOF
robotic arm consists of three
linear motion modules along the X, Y, and Z axes. The flexible clamping mechanism is placed on the X-axis
linear motion mechanism, which is placed on the Y-axis
linear motion mechanism, and the Y-axis linear motion mechanism is placed on the Z-axis linear motion mechanism. The Z-axis linear motion mechanism, control device, and curved guide rail mechanism are mounted on the walking mechanism. This invention can cover the entire litchi
canopy for fruit harvesting, is suitable for harvesting in high-
branch scenarios, and significantly improves the efficiency of litchi harvesting.