A fruit picking and transporting system and method

Abstract

A fruit-collecting and transporting system and method includes a loading and transporting device and a fruit-collecting device. The loading and transporting device includes a flight module and an internal loading module. The flight module drives the loading and transporting device to fly, and the fruit-collecting device is used to collect the fruit loaded in the internal loading module. The internal loading module includes a fruit-picking mechanism, a dial mechanism, a transmission mechanism, and a storage box. The fruit-picking mechanism includes a friction wheel for guiding the fruit into the dial mechanism. The dial mechanism includes a base, a dial wheel, and a first driving member. The first driving member connects to the dial wheel and drives the dial wheel to rotate. A fruit-collecting and transporting method using the above system allows the loading and transporting device to easily navigate complex terrain environments by setting up a flight module. After picking up the fruit and placing it in the storage box, it is then transported to the fruit-collecting device. The fruit-collecting device can be placed near a road, realizing mechanized fruit collection and transport in complex terrain, saving labor costs, and belonging to the field of fruit-collecting and transporting technology.

Description

Technical Field

[0001] This invention relates to the field of fruit picking and transportation technology, specifically to a fruit picking and transportation system and method. Background Technology

[0002] With rising labor costs, mechanization and automation are increasingly being applied in agricultural harvesting and transportation. For nuts like walnuts and some fruits like plums, which can fall naturally after ripening or be knocked down by hand, harvesting and transportation are relatively convenient. However, fruit trees often grow on steep, terraced hillsides where a comprehensive transportation network is difficult to establish. Currently, the collection and transportation of these fruits involves manually loading fallen fruit into boxes, then using rail or wheeled transport. Rail transport is expensive and involves a large amount of engineering work, while wheeled transport machinery is too bulky to navigate densely fruited orchards, requiring manual handling of the boxes to more accessible ground before mechanical transport, resulting in high labor costs. Summary of the Invention

[0003] In view of the technical problems existing in the prior art, the purpose of this invention is to provide a mechanized fruit picking and transportation system and method that can facilitate the picking and transportation of fruits in hilly and mountainous environments.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a fruit picking and transportation system, comprising a loading and transportation device and a fruit collection device, wherein the loading and transportation device comprises a flight module and an in-flight loading module, the flight module drives the loading and transportation device to fly, and the fruit collection device is used to collect the fruit loaded in the in-flight loading module;

[0005] The in-machine loading module includes a fruit-picking mechanism, a dial mechanism, a transmission mechanism, and a storage box. The fruit-picking mechanism includes a friction wheel for guiding the fruit into the dial mechanism. The dial mechanism includes a base, a dial wheel, and a first driving component. The base has an annular fruit-feeding channel. The dial wheel is rotatably connected to the base. The first driving component is connected to the dial wheel and drives the dial wheel to rotate. The outer side of the dial wheel has teeth that extend into the fruit-feeding channel to push the fruit along the fruit-feeding channel. The outlet end of the fruit-feeding channel is connected to the transmission mechanism, which is used to transfer the fruit to the storage box.

[0006] With this structure, the flight module can easily transport the equipment through complex terrain, collect the fruit into the storage box, and then transport it to the fruit collection device. The fruit collection device can be placed near the road, which enables mechanized fruit collection in complex terrains such as hills and mountains, saving labor costs.

[0007] As a preferred option, the flight module is an electric multi-rotor drone, and the internal loading module is installed on the electric multi-rotor drone.

[0008] As a preferred embodiment, the fruit-picking mechanism also includes a fruit-picking frame, a second driving component, and a suction cylinder. The fruit-picking frame is fixedly connected to the base, the axis of the friction wheel is horizontal, there are two friction wheels that are rotatably connected to the fruit-picking frame, and a fruit-picking channel is formed between the two friction wheels. The suction cylinder is a flexible structure and is located below the two friction wheels. The second driving component is installed on the fruit-picking frame, and the second driving component is connected to the friction wheels and drives the friction wheels to rotate.

[0009] As a preferred embodiment, one end of the pawl is fixed to the dial wheel, and the other end of the pawl is fitted with a first bearing, the axis of which is parallel to the rotation center line of the dial wheel.

[0010] As a preferred embodiment, the transmission mechanism includes a transmission cylinder, a third driving component, and a diverting strip; the transmission cylinder is equipped with a rotatable spiral guide rail, and a spiral transmission channel is formed between the inner wall of the transmission cylinder and the spiral guide rail; the diverting strip is connected between the outlet end of the fruit delivery channel and the inlet end of the transmission channel; and the third driving component is connected to the spiral guide rail and drives the spiral guide rail to rotate.

[0011] As a preferred embodiment, the spiral guide rail has raised edges on both sides, and multiple second bearings are installed in the raised edges.

[0012] As a preferred embodiment, the fruit collection device includes a throwing bin, a conveying trough, a roller assembly, and a fruit collection box; the throwing bin is located diagonally above the fruit collection box, the conveying trough is connected between the throwing bin and the fruit collection box, the roller assembly includes multiple rollers, the multiple rollers are located in the conveying trough and are rotatably connected to the conveying trough, the outer periphery of the rollers is provided with multiple rings of flexible contact feet, and a space is left between the rollers and the bottom of the conveying trough for the fruit to pass through.

[0013] As a preferred embodiment, the fruit collection device also includes a linear motor, a photoelectric sensor, and a movable base plate;

[0014] The movable base plate is located inside the fruit collection box and is slidably connected to the fruit collection box. The sliding direction of the movable base plate is vertical. A linear motor is connected to the movable base plate and drives the movable base plate to rise and fall. A photoelectric sensor is installed on the inner wall of the fruit collection box.

[0015] A method for picking up and transporting fruit, using the aforementioned fruit picking and transporting system, includes the steps of picking up and transporting collected fruit;

[0016] Pick-up: The flight module drives the internal loading module to fly above the fruit, and guides the fruit into the dial mechanism through the friction wheel. The dial mechanism then moves the fruit to the transmission mechanism in sequence, and the transmission mechanism transfers the fruit to the storage box.

[0017] Fruit collection and transportation: After the storage box is full, the flight module drives the onboard loading module to fly to the fruit collection device and throw the fruit from the storage box into the fruit collection device.

[0018] As a preferred method, during the fruit collection process, the transmission mechanism transports the fruit in the opposite direction, and both the dial wheel and the friction wheel rotate in the opposite direction. The fruit is then sequentially guided through the transmission mechanism, the dial mechanism, and the fruit-picking mechanism before being thrown into the fruit collection device.

[0019] In summary, the present invention has the following advantages:

[0020] 1. Compared with existing wheeled or rail-mounted agricultural machinery, this invention uses drones for operation, which is highly efficient, less affected by terrain, and has a large operating range. It can operate efficiently in orchard environments in mountainous and hilly areas, reducing labor costs.

[0021] 2. The system of the present invention integrates fruit picking, collection and stacking, and can achieve fully automated operation, stacking fruits in complex terrain into the fruit collection box, which is convenient and efficient.

[0022] 3. The loading and transporting device of the present invention can sequentially transfer fruits to the storage box through the fruit picking mechanism, the dial mechanism and the transmission mechanism, making it less likely for fruits to get stuck. Both the dial mechanism and the transmission mechanism use bearings to reduce the friction between the mechanism and the fruit, making it less likely to damage the fruit skin.

[0023] 4. The fruit collection device of the present invention can stack fruits layer by layer, and can also avoid damage to the fruits due to excessive impact from the falling of gravity. Attached Figure Description

[0024] Figure 1 This is a 3D structural diagram of the internally loaded module.

[0025] Figure 2 This is a schematic diagram of the fruit collection device.

[0026] Figure 3 A schematic diagram showing the connection between the fruit-picking mechanism, the dial mechanism, and the transmission mechanism.

[0027] Figure 4 A perspective view showing the connection between the fruit-picking machine frame and the upper base.

[0028] Figure 5 This is a schematic diagram of the dial.

[0029] Figure 6 This is a schematic diagram of the spiral guide rail.

[0030] Among them, 1 is the fruit collection device, 2 is the storage box, 3 is the fruit picking mechanism, 4 is the dial mechanism, and 5 is the transmission mechanism.

[0031] 11 is the throwing chamber, 12 is the conveying trough, 13 is the roller, 14 is the fruit collection box, 15 is the movable base plate, 16 is the linear guide rail, 17 is the base plate of the fruit collection device, and 18 is the fruit collection machine frame.

[0032] 31 is a friction wheel, 32 is a fruit-picking machine frame, and 33 is a guide plate. 41 is an upper ring base, 42 is a lower ring base, and 43 is a dial wheel. 51 is a transmission cylinder, 52 is a spiral guide rail, and 53 is a flow divider. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0034] Example 1

[0035] like Figures 1-6 As shown, a fruit collection and transportation system includes a loading and transportation device and a fruit collection device. The loading and transportation device includes a flight module and an in-flight loading module. The flight module drives the loading and transportation device to fly, and the fruit collection device is used to collect the fruit loaded in the in-flight loading module.

[0036] The in-machine loading module includes a fruit-picking mechanism, a dial mechanism, a transmission mechanism, and a storage box. The fruit-picking mechanism includes a friction wheel for guiding the fruit into the dial mechanism. The dial mechanism includes a base, a dial wheel, and a first driving component. The base has an annular fruit-feeding channel. The dial wheel is rotatably connected to the base. The first driving component is connected to the dial wheel and drives the dial wheel to rotate. The outer side of the dial wheel has teeth that extend into the fruit-feeding channel to push the fruit along the fruit-feeding channel. The outlet end of the fruit-feeding channel is connected to the transmission mechanism, which is used to transfer the fruit to the storage box.

[0037] The base consists of an upper base and a lower base, with the upper base located above the lower base.

[0038] The flight module is an electric multi-rotor drone, and the internal loading module is installed on the electric multi-rotor drone.

[0039] The flight module can utilize existing high-payload multi-rotor electric aircraft. The internal loading module is fixedly connected to the frame of the flight module, thereby enabling the flight module to drive the entire internal loading module in flight.

[0040] The fruit collection device can be placed near the road. The location of the fruit collection device can be planned based on the maximum hovering time and energy efficiency obtained from the dynamic simulation of the aircraft. It can realize mechanized fruit collection in complex terrains such as hills and mountains, and transport the containers to convenient transportation sites. There is no need for manual handling in the mountains, saving labor costs.

[0041] The fruit-picking mechanism also includes a fruit-picking frame, a second drive unit, and a suction cylinder. The fruit-picking frame is fixedly connected to the base. The axis of the friction wheel is horizontal. There are two friction wheels, which are rotatably connected to the fruit-picking frame. A fruit-picking channel is formed between the two friction wheels. The suction cylinder is a flexible structure and is located below the two friction wheels. The second drive unit is installed on the fruit-picking frame. The second drive unit is connected to the friction wheels and drives the friction wheels to rotate.

[0042] The suction tube is a cylindrical structure with an outward flare at the lower edge. The internal cross-section of the suction tube is slightly larger than the size of the fruit. The fruit can be encased in the suction tube, and the friction wheel sends the fruit encased in the suction tube into the dial mechanism.

[0043] The fruit-picking mechanism also includes a guide plate, which extends from the top of the fruit-picking channel to the entrance of the fruit-feeding channel. The guide plate consists of an arc-shaped section and a straight section. The arc-shaped section is 90° and one end is located above the fruit-picking channel. The straight section smoothly connects to the fruit-feeding channel.

[0044] One end of the pick is fixed to the pick wheel, and the other end is fitted with a first bearing. The axis of the first bearing is parallel to the rotation center line of the pick wheel. The pick contacts the fruit through the first bearing, reducing friction between the pick and the fruit. From one end to the other, the width of the pick first decreases and then increases, with one end wider than the other, and both sides of the pick are concave arcs. Adjacent picks create a space slightly larger than the size of the fruit, allowing the fruit to be pushed sequentially into the transmission mechanism. The citrus fruit remains in close contact with and pushed by the subsequent pick within the pick disc, without touching the preceding pick, maintaining consistent force.

[0045] The number of teeth is 8, and the 8 teeth are evenly arranged in a ring on the outside of the gear wheel, with each pair of adjacent teeth spaced 45° apart.

[0046] The transmission mechanism includes a transmission cylinder, a third driving component, and a diverting strip. The transmission cylinder is equipped with a rotatable spiral guide rail, and a spiral transmission channel is formed between the inner wall of the transmission cylinder and the spiral guide rail. The diverting strip is connected between the outlet end of the fruit delivery channel and the inlet end of the transmission channel. The third driving component is connected to the spiral guide rail and drives the spiral guide rail to rotate.

[0047] The transmission mechanism also includes a fixed base, which is fixedly connected to the base. The transmission cylinder is fixedly installed on the fixed base. The spiral guide rail is rotatably connected to the fixed base through the main shaft. The spiral guide rail is a ribbon-shaped track attached to the outer surface of the main shaft and extending along the spiral. Its transmission principle is similar to that of the Archimedes spiral pump. The main shaft is rotated by a third driving component (motor), and the fruit enters the interior of the storage box along the spiral.

[0048] The third driving component can be a motor, which is mounted in a fixed bracket.

[0049] The spiral guide rail has an inclination angle of 50° to the horizontal plane, which is slightly less than the maximum pressure angle. This avoids self-locking while also ensuring transmission efficiency. The rotation of the main shaft provides the fruit on it with a forward and upward lifting force.

[0050] The spiral guide rail has raised edges on both sides, and multiple second bearings are installed in the raised edges. The multiple second bearings are arranged along the spiral guide rail, which can reduce the friction between the fruit and the rail and ensure that the fruit remains stable on the spiral guide rail.

[0051] The transmission cylinder is vertically positioned, as is the axis of the dial wheel. The transmission cylinder is located to one side of the dial mechanism. The diverting strip consists of a horizontal diverting section and an inclined diverting section. The horizontal diverting section is horizontally positioned, and one end of the inclined diverting section connects to the horizontal diverting section. From one end to the other, the horizontal diverting section extends obliquely upwards in an arc to the bottom of the transmission channel. There are two diverting strips, positioned vertically. The diverting strips guide the fruit into the transmission mechanism and prevent the fruit at the upper end from pressing down on the fruit outlet due to gravity, thus preventing blockage.

[0052] The fruit collection device includes a throwing bin, a conveying trough, a roller assembly, and a fruit collection box. The throwing bin is located diagonally above the fruit collection box. The conveying trough connects the throwing bin and the fruit collection box. The roller assembly includes multiple rollers, which are located in the conveying trough and rotatably connected to it. The outer circumference of the rollers is provided with multiple flexible contact feet. There is space between the rollers and the bottom of the conveying trough for the fruit to pass through.

[0053] The roller is made of rubber, and each ring of flexible feet includes eight feet. The flexible material has a deceleration and buffering function to help guide and push the fruit into the device, guiding the fruit to enter the fruit collection box at an angle.

[0054] The fruit collection device also includes a linear motor, a photoelectric sensor, and a movable base plate;

[0055] The movable base plate is located inside the fruit collection box and is slidably connected to the fruit collection box. The sliding direction of the movable base plate is vertical. A linear motor is connected to the movable base plate and drives the movable base plate to rise and fall. A photoelectric sensor is installed on the inner wall of the fruit collection box.

[0056] The inner wall of the fruit collection box is equipped with a linear guide rail. The movable base plate is slidably connected to the fruit collection box through the linear guide rail. The ground fruit collection device is also equipped with a controller, which is electrically connected to a linear motor and a photoelectric sensor.

[0057] The fruit collection device also includes a fruit collection device base plate and a fruit collection machine frame. The fruit collection box and the fruit collection machine frame are both installed on the fruit collection device base plate. The conveying trough is installed on the fruit collection machine frame. The bottom end of the conveying trough is connected to the fruit collection box, and the top end of the conveying trough is connected to the throwing bin.

[0058] The above-mentioned fruit picking and transportation system can be used for picking and transporting walnuts. The size of the fruit picking channel, fruit delivery channel, and transmission channel is designed according to the size of the walnuts.

[0059] A method for picking up and transporting fruit, using the above-mentioned fruit picking and transporting system, includes the steps of picking up and transporting collected fruit;

[0060] Pick-up: The flight module drives the internal loading module to fly above the fruit, and guides the fruit into the dial mechanism through the friction wheel. The dial mechanism then moves the fruit to the transmission mechanism in sequence, and the transmission mechanism transfers the fruit to the storage box.

[0061] Fruit collection and transportation: After the storage box is full, the flight module drives the onboard loading module to fly to the fruit collection device and throw the fruit from the storage box into the fruit collection device.

[0062] The above method specifically includes the following four steps:

[0063] 1. The drone uses a suction tube to adsorb the surface of the fruit, and the friction wheel rotates at 100 rpm to bring the fruit into the entrance of the dial mechanism through friction. The fruit passes through the guide plate and is brought into the dial 33. A series of bearings are installed at the bottom of the dial mechanism to reduce the friction of the link. The first driving component drives the dial to rotate and push the fruit into the spiral guide rail in sequence. The spiral guide rail inputs the fruit into the storage device.

[0064] 2. When the distance between the fruit and the top of the storage box is less than 2cm, the storage box is considered full. The drone then takes off and flies to the hovering fruit collection device according to the route set by the ground station.

[0065] 3. The drone hovers at a throwing point less than 25cm directly above the fruit collection device. The flight control system sends a signal to the transport device loaded inside the drone below, selecting the vertical throwing mode to export the fruit. The export process is the reverse of the picking steps.

[0066] 4. After being unloaded, the fruit enters the roller assembly. The roller assemblies are connected by synchronous belts, which apply downward and forward force to the fruit, carrying it into the movable base plate of the fruit collection box. Initially, the movable base plate is at its highest point. After the entire surface is covered, it descends another layer, repeating this process until the box is full, completing one transport operation.

[0067] Three laser ranging modules are installed around the suction cylinder. The distance between the suction cylinder and the fruit collection device is detected by the three laser ranging modules. When the distance reaches the specified threshold, it is considered to be aligned with the throwing chamber.

[0068] The first driving component is a drive motor. During the picking process, the drive motor controls the friction wheel to rotate inward toward the inside of the dial mechanism (forward rotation), using friction to send the fruit into the fruit feeding channel. The second driving component is a brushless motor, which drives the dial to rotate counterclockwise (forward rotation), providing a constant thrust to the fruit and pushing it to the lower end of the spiral guide rail.

[0069] During the fruit collection process, the transmission mechanism transports the fruit in the opposite direction, and the dial wheel and friction wheel both rotate in the opposite direction. The fruit is successively guided by the transmission mechanism, the dial mechanism and the fruit picking mechanism and thrown into the fruit collection device.

[0070] The system also includes a controller, which is electrically connected to the first drive unit, the second drive unit, and the third drive unit. The controller is equipped with a blocking detection mechanism. When the difference between the output value of the motor encoder of the second drive unit and the target value is greater than the threshold and the duration exceeds 10 seconds, the blocking condition is met and the reversing mechanism is triggered. At this time, the second drive unit controls the dial to rotate in the reverse direction.

[0071] The above embodiments are preferred embodiments of the invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A fruit picking and transport system, characterized in that: It includes a loading and transport device and a fruit collection device. The loading and transport device includes a flight module and an in-flight loading module. The flight module drives the loading and transport device to fly, and the fruit collection device is used to collect the fruit loaded by the in-flight loading module. The in-machine loading module includes a fruit picking mechanism, a dial mechanism, a transmission mechanism, and a storage box. The fruit picking mechanism includes a friction wheel for guiding the fruit into the dial mechanism. The dial mechanism includes a base, a dial wheel, and a first driving member. The base has an annular fruit feeding channel. The dial wheel is rotatably connected to the base. The first driving member is connected to the dial wheel and drives the dial wheel to rotate. The outer side of the dial wheel has teeth that extend into the fruit feeding channel to push the fruit along the fruit feeding channel. The outlet end of the fruit feeding channel is connected to the transmission mechanism, which is used to transfer the fruit to the storage box. The fruit-picking mechanism also includes a fruit-picking frame, a second drive unit, and a suction cylinder. The fruit-picking frame is fixedly connected to the base. The axis of the friction wheel is horizontal. There are two friction wheels, which are rotatably connected to the fruit-picking frame. A fruit-picking channel is formed between the two friction wheels. The suction cylinder is a flexible structure and is located below the two friction wheels. The second drive unit is installed on the fruit-picking frame. The second drive unit is connected to the friction wheels and drives the friction wheels to rotate. The transmission mechanism includes a transmission cylinder, a third drive component, and a diversion strip; The conveying cylinder is equipped with a rotatable spiral guide rail. A spiral conveying channel is formed between the inner wall of the conveying cylinder and the spiral guide rail. The diverting strip is connected between the outlet end of the fruit conveying channel and the inlet end of the conveying channel. The third driving component is connected to the spiral guide rail and drives the spiral guide rail to rotate. The fruit collection and transportation system involves the following four steps in the process of collecting and transporting the collected fruit:

1. The suction tube adsorbs the surface of the fruit, the friction wheel rotates, and the friction force brings the fruit into the entrance of the dial mechanism. The first driving component drives the dial to rotate and push the fruit into the spiral guide rail in turn. The spiral guide rail inputs the fruit into the storage box.

2. When the distance between the fruit and the top of the storage box is less than 2cm, the storage box is considered full. Then the flight module takes off and flies to the hovering fruit collection device according to the route set by the ground station.

3. The flight module hovers above the fruit collection device at the throwing point, and the flight control sends a signal to the transport device loaded inside the machine below to select the vertical throwing mode to export the fruit. The export process is the reverse of the picking steps.

4. After being exported, the fruit enters the fruit collection device; The fruit collection device includes a throwing chamber and three laser ranging modules installed around the suction cylinder. The distance between the suction cylinder and the fruit collection device is detected by the three laser ranging modules. When the distance reaches a specified threshold, it is considered to be aligned with the throwing chamber. During the picking process, the friction wheel rotates in the forward direction toward the inside of the dial mechanism, using friction to send the fruit into the fruit feeding channel; The second driving component is a brushless motor, which drives the dial to rotate in the forward direction, giving the fruit a constant thrust to the lower end of the spiral guide rail. During the fruit collection process, the transmission mechanism transports the fruit in the opposite direction, and the dial wheel and friction wheel both rotate in the opposite direction. The fruit is successively guided by the transmission mechanism, the dial mechanism and the fruit picking mechanism and thrown into the fruit collection device. The fruit picking and transportation system also includes a controller, which is electrically connected to the first drive unit, the second drive unit, and the third drive unit. The controller is equipped with a blocking detection mechanism. When the difference between the output value of the motor encoder of the second drive unit and the target value is greater than the threshold and the duration exceeds 10 seconds, the blocking condition is met and the reversing mechanism is triggered. At this time, the second drive unit controls the dial to rotate in the reverse direction.

2. A fruit picking and transport system according to claim 1, characterized in that: The flight module is an electric multi-rotor drone, and the internal loading module is installed on the electric multi-rotor drone.

3. A fruit picking and transport system according to claim 1, characterized in that: One end of the pawl is fixed to the dial wheel, and the other end of the pawl is fitted with a first bearing. The axis of the first bearing is parallel to the rotation center line of the dial wheel.

4. A fruit picking and transport system according to claim 1, characterized in that: The spiral guide rail has raised edges on both sides, and multiple second bearings are installed in the raised edges.

5. A fruit picking and transport system according to claim 1, characterized in that: The fruit collection device includes a throwing bin, a conveying trough, a roller assembly, and a fruit collection box; The throwing bin is located diagonally above the fruit collection box. The conveying trough connects the throwing bin and the fruit collection box. The roller assembly includes multiple rollers, which are located in the conveying trough and rotatably connected to it. The outer circumference of the rollers is provided with multiple rings of flexible feet. There is space between the rollers and the bottom of the conveying trough for the fruit to pass through.

6. A fruit picking and transport system according to claim 5, characterized in that: The fruit collection device also includes a linear motor, a photoelectric sensor, and a movable base plate; The movable base plate is located inside the fruit collection box and is slidably connected to the fruit collection box. The sliding direction of the movable base plate is vertical. A linear motor is connected to the movable base plate and drives the movable base plate to rise and fall. A photoelectric sensor is installed on the inner wall of the fruit collection box.

7. A method for picking up and transporting fruit, using the fruit picking and transporting system described in any one of claims 1-6, characterized in that: This includes the steps of picking up and transporting the collected fruit; Pick-up: The flight module drives the internal loading module to fly above the fruit, and guides the fruit into the dial mechanism through the friction wheel. The dial mechanism then moves the fruit to the transmission mechanism in sequence, and the transmission mechanism transfers the fruit to the storage box. Fruit collection and transportation: After the storage box is full, the flight module drives the onboard loading module to fly to the fruit collection device and throw the fruit from the storage box into the fruit collection device.

8. A fruit picking and transportation method according to claim 7, characterized in that: During the fruit collection process, the transmission mechanism transports the fruit in the opposite direction, and the dial wheel and friction wheel both rotate in the opposite direction. The fruit is successively guided by the transmission mechanism, the dial mechanism and the fruit picking mechanism and thrown into the fruit collection device.

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