Fruit tree planting and picking equipment and method

Abstract

The invention relates to the technical field of picking, in particular to fruit tree planting picking equipment and method.The fruit tree planting picking equipment comprises a movable vehicle body and a digital display control panel, and mechanical arm structures are arranged on the upper sides of the two ends of the movable vehicle body in the moving direction of the movable vehicle body; a fruit storage box structure capable of storing fruits according to sizes in a grading manner is detachably arranged on the mobile vehicle body between the two mechanical arm structures; the mechanical arm structure is provided with a fruit transition receiving and placing bag structure which can move along with the picking net claw structure and keep in the same vertical direction. Through mutual cooperation and cooperation of the moving vehicle body, the mechanical arm structure, the picking net claw structure, the fruit transition receiving and placing bag structure, the fruit storage box structure and the like, multiple fruits can be picked and collected at a time, fruit unloading operation can be simplified, the picking efficiency is improved, and in addition, the fruits can be stored in a classified mode according to the size.

Description

Technical Field

[0001] The invention relates to the field of picking equipment, and in particular to fruit tree planting and picking equipment and a method. Background Art

[0002] In daily life, many of the fruits we eat grow on relatively tall fruit trees. Picking them usually requires the help of external tools, such as ladders, long poles, etc., and large-scale picking is currently often carried out by picking robots. The picking robots use visual recognition devices composed of color cameras and image processors to identify information such as the color, shape, and maturity of the target fruit. They are also usually equipped with flexible robotic arms and end effectors for grasping and picking fruits. The end effectors may include devices such as suction cups and claws so that they can firmly grasp the fruit and avoid damage.

[0003] A field fruit picking device with publication number CN209994907U includes a picking barrel, a picking opening is provided on the picking barrel, a detachable blade is provided on the upper picking opening, and the detachable blade is embedded in the barrel wall of the picking barrel. The picking barrel is connected to a telescopic rod through a connecting frame, and the telescopic rod is driven by a motor. The bottom surface of the picking barrel is closed.

[0004] A fruit picking robot and control system with publication number CN108200809A is disclosed. Based on the characteristics of the mechanical structure of the fruit picking robot, the control method of the picking robot is studied, and an image-based visual servo controller is designed. A small step-size approximation control algorithm is used to guide the robot picker to accurately locate the target fruit. According to the time-varying, strongly coupled and nonlinear characteristics of the visual servo control system, a fuzzy PID controller is designed and applied to the servo motion control of the fruit robot's mechanical arm joints.

[0005] However, the current harvesting robots can only pick one fruit per robot arm, and need to complete the unloading of the fruit before proceeding to the next step of fruit grabbing. Moreover, most of them only have simple picking functions and single functions. Summary of the invention

[0006] The purpose of the present invention is to provide a fruit tree planting and picking device and method in order to solve the problems of a small number of fruits picked in a single operation and only having simple picking functions.

[0007] To achieve the above object, the present invention provides the following technical solutions: The present invention provides a fruit tree planting and picking device, comprising a mobile body and a digital display control panel, wherein the mobile body is provided with mechanical arm structures on both ends of the upper side of the mobile body along the moving direction, and a fruit storage box structure capable of storing fruits by size classification is detachably provided on the mobile body between the two mechanical arm structures; The mechanical arm structure is provided with a fruit transition receiving and placing pocket structure which can follow the picking net claw structure and maintain the same up and down direction; A picking net claw structure capable of picking fruits and grading them by size is arranged at the execution end of the mechanical arm structure.

[0008] Furthermore, the picking net claw structure includes a double-claw cylinder, and the two push rods of the double-claw cylinder are respectively provided with end plates on one side opposite to each other, and one of the push rods is provided with a picking rotating motor for driving the end plate to rotate, and the outer sides of the two end plates are provided with a plurality of elastic claw rods evenly distributed along their circumferential direction, and the output end of the digital display control panel is respectively electrically connected to the input end of the double-claw cylinder and the picking rotating motor.

[0009] Furthermore, the elastic claw rod is provided with a notch groove on the side of the rotation center axis of the end plate, and the inner contour of the notch groove is V-shaped. Each elastic claw rod is also provided with an inner protective strip on the side of the rotation center axis of the end plate. The inner protective strip is made of elastic rubber strip material, and the cross-sectional shape of the inner protective strip is arc-shaped. When the elastic claw rod is in a straight state, the inner protective strip is in an elastically stretched state.

[0010] Furthermore, the mobile vehicle body includes a frame with a rectangular shape, axles are arranged at both ends of the frame along its length direction, wheel frames are rotatably arranged at the lower sides of both ends of the axles, a steering motor for driving the wheel frame to rotate is arranged on the axle, a moving wheel is rotatably arranged on the wheel frame, a driving motor for driving the moving wheel to rotate is fixedly arranged on the wheel frame, and the output end of the digital display control panel is electrically connected to the input end of the steering motor and the driving motor respectively.

[0011] Furthermore, the frame is provided with an on-board battery for providing electrical energy, the on-board battery and the digital display control panel are electrically connected to each other, two robotic arm brackets are provided on both sides of the on-board battery and are symmetrically distributed with the on-board battery as the center, the two robotic arm structures are respectively arranged on the two robotic arm brackets, and the outer contour shape of the robotic arm bracket is L-shaped.

[0012] Furthermore, the fruit storage box structure includes a box body with a rectangular shape, and handles are provided at both ends of the box body along its length direction, and a clamping gap is formed between the handles and the box body. A clamping column used to clamp and limit the clamping gap is fixedly provided on the mechanical arm bracket, and a plurality of evenly distributed partition plates are detachably provided in the box body along its length direction, and each partition plate is provided with an open grip groove, and a plurality of groups of rail grooves corresponding to the partition plates are provided on the inner side wall of the box body along its length direction, and each group includes two rail grooves distributed along the width direction of the box body.

[0013] Furthermore, the robotic arm structure includes a horizontal rotating support rotatably arranged on the upper side of the robotic arm bracket, a rotating servo motor for driving the horizontal rotating support to rotate is fixedly arranged on the robotic arm bracket, a primary arm, a secondary arm and a tertiary arm are sequentially connected between the horizontal rotating support and the picking net claw structure, the tertiary arm is provided with a terminal rotating motor, the output shaft end of the terminal rotating motor is connected to the terminal execution turntable, the picking net claw structure is arranged on the terminal execution turntable, the tertiary arm is provided with a visual sensor, the output end of the digital display control panel is electrically connected to the input end of the rotating servo motor and the terminal rotating motor respectively, and the output end of the visual sensor is electrically connected to the input end of the digital display control panel.

[0014] Furthermore, the fruit transition pocket structure includes two parallel connected shafts, a connecting sleeve that cooperates with the connecting shaft is fixedly arranged on the horizontal rotating support, a fixing bolt that is threadedly connected to the connecting sleeve and is used to tighten and fix the connecting shaft in the connecting sleeve, a flip servo motor is fixedly arranged on the connecting shaft, the output shaft end of the flip servo motor is connected to a flip disk, one end of two parallel supported rods is connected to the flip disk, the other end of the supported rod is fixedly arranged with a ring, a fruit placement pocket box is detachably arranged in the ring, and the output end of the digital display control panel is electrically connected to the input end of the flip servo motor.

[0015] Furthermore, an electric hair dryer for blowing air toward the picking claw structure is arranged on the terminal execution turntable, and the output end of the digital display control panel is electrically connected to the input end of the electric hair dryer.

[0016] A fruit tree planting and picking method comprises the following steps: S1: The mobile vehicle moves between the fruit trees, the robotic arm structure identifies the fruit through the visual sensor on it, and moves the picking claw structure close to the fruit for picking. After picking, the robotic arm structure drives the picking claw structure to grab the fruit and place it in the fruit storage box structure; S2: In step S1, before the picking net claw structure approaches the fruit, the double-claw cylinder drives the two push rods to approach each other, so that the two end plates are approached to each other. The two end plates approaching each other cause extrusion deformation on the elastic claw rods, thereby increasing the gap between the elastic claw rods. The mechanical arm structure drives the picking net claw structure to continue moving toward the fruit until the fruit is inserted between the elastic claw rods. Multiple bunches of fruits can also be inserted between the elastic claw rods at the same time. The double-claw cylinder drives the two push rods to move away from each other, so that the two end plates are moved away from each other. The elastic claw rods are converted from a bent state to a straight state, thereby decreasing the gap between the elastic claw rods, and the fruit is torn off the fruit stalk; S3: In step S2, there are two ways to pull the fruit off the fruit stalk. The first way is to drive the end plate and the elastic claw rod to rotate by the picking rotating motor. The second way is to drive the picking net claw structure to pull the fruit off the branch by the mechanical arm structure. S4: When picking fruits by size, the double-claw cylinder is able to control the size of the gap between the elastic claw rods. When the robotic arm structure drives the picking claw structure to grab the fruits and place them in the fruit storage box structure, the partition plate divides the box body into different storage chambers. The double-claw cylinder controls the gap between the elastic claw rods from small to large, corresponding to different storage chambers, thereby achieving graded storage of fruits according to size.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the coordination and cooperation between the mobile body, the mechanical arm structure, the picking net claw structure, the fruit transition pocket structure and the fruit storage box structure, multiple fruits can be picked and collected at one time, and the unloading operation can be simplified to improve the picking efficiency. In addition, the fruits can be graded and stored according to their size; 2. The notch groove plays an auxiliary role in the expansion and bending of the elastic claw rod outward in the middle, and plays a guiding role in the bending of the elastic claw rod. In addition, the inner protection strip can play an auxiliary protective role for the fruit between the elastic claw rods to avoid scratching the outer skin of the fruit; 3. The fruit transition receiving and placing pocket structure can rotate with the rotation of the horizontal rotating support, thereby ensuring that the fruit placing pocket box and the picking net claw structure are always in the same plane at the upper and lower heights, simplifying the fruit unloading steps, and realizing the storage of the fruit in the fruit transition receiving and placing pocket structure, and after a certain amount of accumulation, the fruit can be poured into the box body, thereby saving picking time and improving picking efficiency; 4. The picking rotating motor can drive the two end plates and the elastic claw rods between the two end plates to rotate, which can drive the fruits in each elastic claw rod to rotate. The hair dryer can blow out the impurities and branches between the fruits, which plays a preliminary cleaning role and saves subsequent processing steps. During the rotation of the elastic claw rods, it is also convenient to grade and unload the fruits to avoid the situation where the fruits are stuck between the elastic claw rods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a main structural schematic diagram of the present invention; Figure 2 The present invention Figure 1 A schematic diagram of a three-dimensional structure in a first direction; Figure 3 The present invention Figure 2 A local enlarged structural schematic diagram; Figure 4 The present invention Figure 2 A schematic diagram of the local enlarged structure at B; Figure 5 The present invention Figure 1 A schematic diagram of a three-dimensional structure in a second direction; Figure 6 The present invention Figure 5 A schematic diagram of the local enlarged structure at C; Figure 7 The present invention Figure 1 A schematic diagram of a three-dimensional structure in the third direction; Figure 8 It is a three-dimensional structural schematic diagram of the picking net claw structure of the present invention.

[0020] The reference numerals are as follows: 1. Mobile body; 101. Frame; 102. On-board battery; 103. Mobile wheel; 104. Axle; 105. Steering motor; 106. Wheel frame; 107. Driving motor; 108. Mechanical arm bracket; 2. Mechanical arm structure; 201. Horizontal rotation support; 202. Rotation servo motor; 203. Primary arm; 204. Secondary arm; 205. Tertiary arm; 206. Terminal rotation motor; 207. Terminal execution turntable; 208. Visual sensor; 3. Picking net claw structure; 301. Double-claw cylinder; 302. Push rod; 3 03. Picking rotating motor; 304. End plate; 305. Elastic claw rod; 306. Notch groove; 307. Inner protective strip; 4. Fruit transition pocket structure; 401. Connecting shaft rod; 402. Connecting sleeve; 403. Tightening bolt; 404. Flipping servo motor; 405. Flipping plate; 406. Support rod; 407. Fruit placement pocket box; 408. Ring; 5. Fruit storage box structure; 501. Box body; 502. Partition plate; 503. Rail groove; 504. Open grip groove; 505. Handle; 506. Column; 6. Digital display control panel; 7. Hair dryer. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 8 As shown, the present invention provides a fruit tree planting and picking equipment, including a mobile body 1 and a digital display control panel 6, wherein the mobile body 1 is provided with a mechanical arm structure 2 on the upper side of both ends along the moving direction thereof, and the mobile body 1 located between the two mechanical arm structures 2 is detachably provided with a fruit storage box structure 5 capable of storing fruits according to size classification; in actual application, the two mechanical arm structures 2 can perform picking operations at the same time and be placed in the fruit storage box structure 5 between the two mechanical arm structures 2.

[0023] The mechanical arm structure 2 is provided with a fruit transition receiving pocket structure 4 which can follow the picking claw structure 3 and keep the same up and down direction; the execution end of the mechanical arm structure 2 is provided with a picking claw structure 3 which can pick the fruits and grade them by size.

[0024] See the instruction manual Figure 7 and Figure 8 As shown, the picking net claw structure 3 includes a double-claw cylinder 301, and two push rods 302 of the double-claw cylinder 301 are respectively provided with end plates 304 on the opposite sides thereof, and a picking rotary motor 303 for driving the end plate 304 to rotate is provided on one of the push rods 302, and a plurality of elastic claw rods 305 evenly distributed are provided on the outer sides of the two end plates 304 along their circumferential direction, and the output end of the digital display control panel 6 is respectively electrically connected to the input end of the double-claw cylinder 301 and the picking rotary motor 303. A notch groove 306 is provided on the side of the elastic claw rod 305 facing the rotation center axis of the end plate 304, and the inner side profile of the notch groove 306 is V-shaped, and each elastic claw rod 305 is also provided with an inner protective strip 307 on the side of the rotation center axis of the end plate 304, and the inner protective strip 307 is made of elastic rubber strip material, and the cross-section of the inner protective strip 307 is in an arc shape, and when the elastic claw rod 305 is in a straight state, the inner protective strip 307 is in an elastic stretching state. In practical applications, the notch groove 306 assists the elastic claw rod 305 in expanding and bending outward in the middle, and guides the bending of the elastic claw rod 305. In addition, the inner protection strip 307 can assist in protecting the fruit between the elastic claw rods 305 to avoid scratching the outer skin of the fruit. In addition, the elastic claw rods 305 form claws for the fruit, and multiple fruits can be taken at the same time. Each fruit can pass through the elastic claw rods 305.

[0025] See the instruction manual Figure 1 , Figure 3 and Figure 7 As shown, the mobile vehicle body 1 includes a vehicle frame 101 in the shape of a rectangular parallelepiped, and axles 104 are arranged at both ends of the vehicle frame 101 along the length direction thereof, and wheel frames 106 are rotatably arranged at the lower sides of both ends of the vehicle frame 104, and a steering motor 105 for driving the wheel frame 106 to rotate is arranged on the vehicle frame 104, and a moving wheel 103 is rotatably arranged on the wheel frame 106, and a driving motor 107 for driving the moving wheel 103 to rotate is fixedly arranged on the wheel frame 106, and the output end of the digital display control panel 6 is electrically connected to the input end of the steering motor 105 and the driving motor 107 respectively. A vehicle battery 102 for providing electric energy is arranged on the vehicle frame 101, and the vehicle battery 102 and the digital display control panel 6 are electrically connected to each other, and two mechanical arm brackets 108 symmetrically distributed with the vehicle battery 102 as the center are arranged on both sides of the vehicle battery 102, and two mechanical arm structures 2 are respectively arranged on the two mechanical arm brackets 108, and the shape of the mechanical arm bracket 108 is L-shaped.

[0026] See the instruction manual Figure 2 and Figure 4 As shown, the fruit storage box structure 5 includes a box body 501 with a rectangular shape, and handles 505 are provided at both ends of the box body 501 along its length direction, and a clamping gap is formed between the handles 505 and the box body 501. A clamping column 506 for clamping and limiting the clamping gap is fixedly provided on the mechanical arm bracket 108. A plurality of evenly distributed partitions 502 are detachably provided in the box body 501 along its length direction, and each partition board 502 is provided with an open grip groove 504. A plurality of groups of rail grooves 503 corresponding to the partition boards 502 are provided on the inner side wall of the box body 501 along its length direction, and each group includes two rail grooves 503 distributed along the width direction of the box body 501. When it is not necessary to store the fruits in a graded manner according to size, each partition board 502 is pulled out from the box body 501, and when it is necessary to store the fruits in a graded manner according to size, each partition board 502 is inserted into the rail groove 503, thereby realizing graded storage in the box body 501.

[0027] See the instruction manual Figure 1 , Figure 2 , Figure 6 and Figure 8As shown, the robot arm structure 2 includes a horizontal rotating support 201 rotatably arranged on the upper side of the robot arm bracket 108, and a rotating servo motor 202 for driving the horizontal rotating support 201 to rotate is fixedly arranged on the robot arm bracket 108. A primary arm 203, a secondary arm 204 and a tertiary arm 205 are connected in sequence between the horizontal rotating support 201 and the picking net claw structure 3. The tertiary arm 205 is provided with a terminal rotating motor 206, and the output shaft end of the terminal rotating motor 206 is connected to the terminal execution turntable 207. The picking net claw structure 3 is arranged on the terminal execution turntable 207, and the tertiary arm 205 is provided with a visual sensor 208. The output end of the digital display control panel 6 is electrically connected to the input end of the rotating servo motor 202 and the input end of the terminal rotating motor 206, and the output end of the visual sensor 208 is electrically connected to the input end of the digital display control panel 6.

[0028] See the instruction manual Figure 5 and Figure 6 As shown, the fruit transition pocket structure 4 includes two parallel connected shafts 401, a connecting sleeve 402 which is matched with the connecting shaft 401 is fixedly provided on the horizontal rotating support 201, a fixing bolt 403 which is threadedly connected to the connecting sleeve 402 and is used to fasten and fix the connecting shaft 401 in the connecting sleeve 402, a flip servo motor 404 is fixedly provided on the connecting shaft 401, a flip disk 405 is connected to the output shaft end of the flip servo motor 404, one end of two parallel supported rods 406 are connected to the flip disk 405, a ring 408 is fixedly provided on the other end of the supported rod 406, a fruit placing pocket box 407 is detachably provided in the ring 408, and the output end of the digital display control panel 6 is electrically connected to the input end of the flip servo motor 404. Through the above-mentioned specific structural design, the fruit transition receiving and placing pocket structure 4 can rotate with the rotation of the horizontal rotating support 201, thereby ensuring that the fruit placement pocket box 407 and the picking claw structure 3 are always in the same plane at the upper and lower heights. Therefore, after picking the fruit, there is no need to rotate the horizontal rotating support 201. The storage of the fruit in the fruit transition receiving and placing pocket structure 4 can be achieved through the rotation between the first-level arm 203, the second-level arm 204 and the third-level arm 205. After the amount of fruit accumulated in the fruit placement pocket box 407 reaches a certain amount, it can be poured into the box body 501, thereby saving picking time and improving picking efficiency.

[0029] The end execution turntable 207 is provided with a hair dryer 7 for blowing air toward the picking claw structure 3, and the output end of the digital display control panel 6 is electrically connected to the input end of the hair dryer 7. The picking rotary motor 303 drives the two end plates 304 and the elastic claw rods 305 between the two end plates 304 to rotate, which can drive the fruits in each elastic claw rod 305 to rotate. The hair dryer 7 can blow out the impurities and branches and leaves between the fruits, play a preliminary cleaning role, and save subsequent processing steps.

[0030] Working principle and technical effect of the present invention: The mobile body 1 moves between the fruit trees, and the mechanical arm structure 2 identifies the fruit through the visual sensor 208 thereon, and moves the picking claw structure 3 close to the fruit for picking. After picking, the mechanical arm structure 2 drives the picking claw structure 3 to grab the fruit and place it in the fruit storage box structure 5; before the picking claw structure 3 approaches the fruit, the double-claw cylinder 301 drives the two push rods 302 to approach each other, so that the two end plates 304 approach each other, and the two end plates 304 approach each other to cause compression deformation of the elastic claw rods 305, thereby increasing the gap between the elastic claw rods 305, and the mechanical arm structure 2 drives the picking claw structure 3 to continue to move toward the fruit until the fruit is inserted between the elastic claw rods 305. Multiple bunches of fruits can also be inserted between the elastic claw rods 305 at the same time, and the double-claw cylinder 301 drives the two push rods 302 to move away from each other, so that the two end plates 304 move away from each other. The elastic claw rod 305 is transformed from a bent state to a straight state, thereby the gap between the elastic claw rods 305 becomes smaller, and the fruit is pulled off from the fruit stalk; there are two ways to pull the fruit off from the fruit stalk, the first way is to achieve it by driving the end plate 304 and the elastic claw rod 305 to rotate by the picking rotating motor 303, and the second way is to drive the picking net claw structure 3 to pull the fruit off the branch by the mechanical arm structure 2; when the fruit is picked according to size classification, the double-claw cylinder 301 is used to control the size of the gap between the elastic claw rods 305. When the mechanical arm structure 2 drives the picking net claw structure 3 to grab the fruit and place it in the fruit storage box structure 5, the partition plate 502 divides the box body 501 into different storage chambers, and the double-claw cylinder 301 controls the gap between the elastic claw rods 305 from small to large, corresponding to different storage chambers, thereby achieving graded storage of fruits according to size.

[0031] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A fruit tree planting and picking device, characterized in that: The mobile vehicle comprises a moving vehicle body (1) and a digital display control panel (6); the moving vehicle body (1) is provided with mechanical arm structures (2) on both ends of the moving vehicle body (1) along the moving direction; and the moving vehicle body (1) is provided with a detachable fruit storage box structure (5) capable of storing fruits in different sizes. The mechanical arm structure (2) is provided with a fruit transition receiving and placing pocket structure (4) capable of following the picking net claw structure (3) and maintaining the same up and down direction; A picking net claw structure (3) capable of picking fruits and grading them by size is provided at the execution end of the mechanical arm structure (2).

2. The fruit tree planting and picking equipment according to claim 1, characterized in that: The picking net claw structure (3) comprises a double-claw cylinder (301), two push rods (302) of the double-claw cylinder (301) are rotatably provided with end plates (304) on opposite sides thereof, one of the push rods (302) is provided with a picking rotary motor (303) for driving the end plate (304) to rotate, and the outer sides of the two end plates (304) are provided with a plurality of elastic claw rods (305) evenly distributed along their circumferential directions, and the output end of the digital display control panel (6) is electrically connected to the input ends of the double-claw cylinder (301) and the picking rotary motor (303), respectively.

3. The fruit tree planting and picking equipment according to claim 2, characterized in that: A notch groove (306) is provided on one side of the elastic claw rod (305) facing the rotation center axis of the end plate (304); the inner side profile of the notch groove (306) is V-shaped; each elastic claw rod (305) is also provided with an inner protective strip (307) on one side of the rotation center axis of the end plate (304); the inner protective strip (307) is made of an elastic rubber strip material; the cross-section of the inner protective strip (307) is in an arc shape; when the elastic claw rod (305) is in a straightened state, the inner protective strip (307) is in an elastically stretched state.

4. The fruit tree planting and picking equipment according to claim 1, characterized in that: The mobile vehicle body (1) comprises a vehicle frame (101) in the shape of a rectangular parallelepiped, wherein axles (104) are arranged at both ends of the vehicle frame (101) along the length direction thereof, and wheel frames (106) are rotatably arranged at the lower sides of both ends of the vehicle axles (104), wherein a steering motor (105) for driving the wheel frame (106) to rotate is arranged on the vehicle axle (104), wherein a moving wheel (103) is rotatably arranged on the wheel frame (106), and wherein a driving motor (107) for driving the moving wheel (103) to rotate is fixedly arranged on the wheel frame (106), and wherein the output end of the digital display control panel (6) is electrically connected to the input end of the steering motor (105) and the input end of the driving motor (107), respectively.

5. The fruit tree planting and picking equipment according to claim 4, characterized in that: The vehicle frame (101) is provided with an on-board battery (102) for providing electric energy; the on-board battery (102) and the digital display control panel (6) are electrically connected to each other; two mechanical arm brackets (108) are provided on both sides of the on-board battery (102) and are symmetrically distributed around the on-board battery (102); the two mechanical arm structures (2) are respectively provided on the two mechanical arm brackets (108); and the outer contour of the mechanical arm brackets (108) is L-shaped.

6. The fruit tree planting and picking equipment according to claim 5, characterized in that: The fruit storage box structure (5) comprises a box body (501) in the shape of a rectangular parallelepiped. The box body (501) is provided with handles (505) at both ends along the length direction thereof. A locking gap is formed between the handles (505) and the box body (501). A locking column (506) for locking and limiting the locking gap is fixedly provided on the mechanical arm bracket (108). A plurality of partition plates (502) evenly distributed are detachably provided in the box body (501) along the length direction thereof. Each partition plate (502) is provided with an open grip groove (504). A plurality of groups of track grooves (503) corresponding to the partition plates (502) are provided on the inner side wall of the box body (501) along the length direction thereof. Each group comprises two track grooves (503) distributed along the width direction of the box body (501).

7. The fruit tree planting and picking equipment according to claim 1, characterized in that: The mechanical arm structure (2) comprises a horizontal rotating support (201) rotatably arranged on the upper side of the mechanical arm support (108); a rotating servo motor (202) for driving the horizontal rotating support (201) to rotate is fixedly arranged on the mechanical arm support (108); a primary arm (203), a secondary arm (204) and a tertiary arm (205) are sequentially connected between the horizontal rotating support (201) and the picking net claw structure (3); and a terminal rotating motor is arranged on the tertiary arm (205). (206), the output shaft end of the terminal rotary motor (206) is connected to the terminal execution turntable (207), the picking claw structure (3) is arranged on the terminal execution turntable (207), the three-stage arm (205) is provided with a visual sensor (208), the output end of the digital display control panel (6) is electrically connected to the input end of the rotary servo motor (202) and the terminal rotary motor (206), and the output end of the visual sensor (208) is electrically connected to the input end of the digital display control panel (6).

8. The fruit tree planting and picking equipment according to claim 7, characterized in that: The fruit transition receiving and placing pocket structure (4) comprises two parallel connected shafts (401); a connecting sleeve (402) is fixedly provided on the horizontal rotating support (201) and is matched with the connecting shaft (401); a fixing bolt (403) is threadedly connected to the connecting sleeve (402) for fastening and fixing the connecting shaft (401) in the connecting sleeve (402); a flip servo motor (404) is fixedly provided on the connecting shaft (401); an output shaft end of the flip servo motor (404) is connected to a flip disk (405); one end of two parallel supported rods (406) are connected to the flip disk (405); a collar (408) is fixedly provided on the other end of the supported rod (406); a fruit placing pocket box (407) is detachably provided in the collar (408); and an output end of the digital display control panel (6) is electrically connected to an input end of the flip servo motor (404).

9. The fruit tree planting and picking equipment according to claim 7, characterized in that: An electric hair dryer (7) for blowing air toward the picking claw structure (3) is provided on the end execution turntable (207), and the output end of the digital display control panel (6) is electrically connected to the input end of the electric hair dryer (7).

10. A method for planting and picking fruit trees, using the fruit tree planting and picking device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The mobile vehicle (1) moves between fruit trees, the mechanical arm structure (2) identifies the fruit through the visual sensor (208) thereon, and moves the picking claw structure (3) close to the fruit for picking. After picking, the mechanical arm structure (2) drives the picking claw structure (3) to grab the fruit and place it in the fruit storage box structure (5); S2: In step S1, before the picking net claw structure (3) approaches the fruit, the double-claw cylinder (301) drives the two push rods (302) to approach each other, thereby causing the two end plates (304) to approach each other. The two end plates (304) approaching each other cause compression deformation on the elastic claw rods (305), thereby increasing the gap between the elastic claw rods (305). The mechanical arm structure (2) drives the picking net claw structure (3) to continue moving toward the fruit until the fruit is inserted between the elastic claw rods (305). Multiple bunches of fruits can also be inserted between the elastic claw rods (305) at the same time. The double-claw cylinder (301) drives the two push rods (302) to move away from each other, thereby causing the two end plates (304) to move away from each other. The elastic claw rods (305) are transformed from a bent state to a straight state, thereby decreasing the gap between the elastic claw rods (305), and the fruit is torn off the fruit stem; S3: In step S2, there are two ways to pull the fruit off the fruit stem. The first way is to drive the end plate (304) and the elastic claw rod (305) to rotate by the picking rotating motor (303). The second way is to drive the picking net claw structure (3) to pull the fruit off the branch by the mechanical arm structure (2). S4: When picking fruits by size, the double-claw cylinder (301) is used to control the size of the gap between the elastic claw rods (305). When the mechanical arm structure (2) drives the picking net claw structure (3) to grab the fruits and place them in the fruit storage box structure (5), the partition plate (502) divides the box body (501) into different storage chambers. The double-claw cylinder (301) controls the gap between the elastic claw rods (305) to change from small to large, respectively corresponding to different storage chambers, thereby achieving storage of fruits by size.

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