Automatic identification fruit picking vehicle and working method

Abstract

The present invention relates to the technical field of fruit picking, and in particular to an automatic identification fruit picking vehicle and working method, comprising: a walking component, including a carriage shell, universal running wheels symmetrically arranged on both sides of the bottom of the carriage shell, a driving unit arranged in the carriage shell and used to drive the universal running wheels, and a control unit arranged inside the carriage shell and connected to the driving unit, an information collection unit for identifying the current route environment is arranged on the outside of the carriage shell; a picking component; and a storage component. The present invention can pick multiple fruits near a certain position of a fruit tree at one time and temporarily store them through the cooperation between the walking component, the picking component, and the storage component, and then put the picked fruits into a storage box on the picking vehicle for storage, thereby improving the picking efficiency, and whether it is temporary storage or storage in the storage box, the damage to the fruit itself is small, thereby improving the yield rate.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking, in particular to an automatic identification fruit picking vehicle and a working method. Background Art

[0002] With the rapid development of my country's economy, the labor costs of various industries are rising, especially in the field of agricultural production. The labor cost of picking agricultural products is high, which requires modern agriculture to continue to develop in the direction of mechanization and intelligence. For fruit picking, most of the existing fruit picking robots are semi-automatic, with low work efficiency, and it is difficult to promote and apply them on a large scale.

[0003] Chinese patent CN202311019463 provides a robot for fruit picking based on visual recognition, including a mobile trolley, a six-degree-of-freedom manipulator, an industrial computer, a fruit storage box, a gripper, and a camera; the six-degree-of-freedom manipulator, the industrial computer, and the fruit storage box are all mounted on the mobile trolley; the gripper and the camera are both installed at the end of the six-degree-of-freedom manipulator. The invention can automatically identify the target fruit and pick it without manual intervention, which improves the picking efficiency and productivity; through visual recognition, it can accurately identify the target fruit, improve the accuracy and efficiency of picking; the picked target fruit can be placed in the fruit storage box, which is convenient for continuous picking.

[0004] However, this solution still has some room for improvement: the robot picks the fruit, and can only pick one fruit at a time. Then the robot needs to release the fruit into the fruit storage box for the next picking. The robot has a long stroke each time, and the picking efficiency is still not high. Secondly, when the robot directly picks the fruit and puts it into the fruit storage box, it is easy to cause great squeezing damage to the fruit itself, which reduces the yield rate.

[0005] Therefore, there is still a need to improve the existing fruit picking vehicles to solve the problems of low picking efficiency and low yield rate of the existing fruit picking vehicles. Summary of the invention

[0006] Some simplifications or omissions may be made in this section and the abstract and title of the present application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0007] To address the deficiencies in the prior art, an object of the present invention is to provide an automatic identification fruit picking vehicle.

[0008] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: an automatic identification fruit picking vehicle, comprising:

[0009] A walking assembly, comprising a carriage shell, universal walking wheels symmetrically arranged on both sides of the bottom of the carriage shell, a driving unit arranged in the carriage shell and used to drive the universal walking wheels, and a control unit 1 arranged inside the carriage shell and connected to the driving unit, an information collection unit 1 for identifying the current route environment is arranged on the outside of the carriage shell, the information collection unit 1 collects current environment information and transmits it to the control unit 1 by electrical signals, the control unit 1 issues a control instruction to the driving unit according to the collected environment information, and the driving unit drives the universal walking wheels to walk normally in the current environment according to the control instruction;

[0010] A picking component, wherein the picking component is provided with two groups and symmetrically distributed on both sides of the carriage shell, and comprises a control unit 2 arranged in the carriage shell, a connecting part arranged on one side of the carriage shell and driven by the control unit 2, and a picking part arranged on one side of the connecting part and used for picking fruits, wherein one side of the picking part is provided with an information collection unit 2 for identifying the currently pickable fruits, wherein the information collection unit 2 collects the position information of the currently pickable fruits and transmits it to the control unit 2 by an electrical signal, and the control unit 2 drives the connecting part according to the collected position information of the currently pickable fruits, so that the picking part on one side of the connecting part is close to the position of the currently pickable fruits for picking; and,

[0011] A storage component is arranged inside the carriage shell, and includes a accommodating bin arranged in the carriage shell, a storage box detachably installed in the accommodating bin, a storage groove arranged at one side of the accommodating bin and adapted to the picking part, and a unloading part arranged in the accommodating bin and adapted to the picking part. When the picking part is stored in the storage groove, the unloading part takes the fruit picked in the picking part out into the storage box.

[0012] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, the connecting part includes a connecting seat arranged in the vehicle body, a telescopic rod 1 arranged on the top of the connecting seat, and a telescopic rod 2 rotatably connected to the end of the telescopic rod 1, and the picking part is arranged at an end of the telescopic rod 2 away from the telescopic rod 1;

[0013] The control unit 2 includes an adjusting member 1 arranged in the car body and used to drive the connecting seat to rotate along the horizontal plane, an adjusting member 2 arranged on one side of the connecting seat and used to drive the telescopic rod 1 to rotate along the vertical plane, and an adjusting member 3 arranged at one end of the telescopic rod and used to drive the telescopic rod 2 to rotate along the vertical plane.

[0014] As a preferred embodiment of the automatic identification fruit picking vehicle of the present invention, the picking part includes a connecting ring detachably connected to the two ends of the telescopic rod, a picking tooth piece fixedly connected to one side of the connecting ring, and a storage bag detachably connected to the other side of the connecting ring, the angle between the connecting ring and the telescopic rod 2 is 180°, and when the telescopic rod 2 is kept in a horizontal state, the angle between the storage bag and the telescopic rod 2 is 90°.

[0015] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, the storage bag comprises a main bag body and a secondary bag body connected to the side of the connecting ring, the secondary bag body is located inside the main bag body, and the secondary bag body is a conical shape with a larger upper part and a smaller lower part;

[0016] The height L1 of the auxiliary bag body is smaller than the height L2 of the main bag body. The upper and lower sides of the auxiliary bag body are respectively provided with a through opening 1 and an opening 2. The edge of the upper opening 1 is connected to the bag mouth of the main bag body, and the edge of the lower opening 2 is connected by an elastic rope, and the auxiliary bag body is connected to the inside of the main bag body by a drawstring.

[0017] When the elastic rope is not pulled by external force, the cross-sectional area of ​​the second opening is smaller than the cross-sectional area of ​​the fruit to be picked; when the elastic rope is pulled open by external force, the cross-sectional area of ​​the second opening is larger than the cross-sectional area of ​​the fruit to be picked.

[0018] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, the picking part further comprises an opening and closing member arranged at the bottom of the main bag body, the opening and closing member comprises an opening and closing groove and a magnetic block 1 arranged at the bottom of the main bag body, a flexible buffer pad 1 is arranged on the inner wall of the main bag body close to the magnetic block 1, the opening and closing groove separates the bottom of the main bag body into an opening and closing section 1 and an opening and closing section 2, the magnetic block 1 is provided with two groups and magnetically attracts each other, and the two groups of magnetic blocks 1 are arranged on the outer walls of the opening and closing section 1 and the opening and closing section 2;

[0019] When the two sets of magnetic blocks 1 are attracted and attached to each other, the opening and closing section 1 and the opening and closing section 2 move closer to shrink the opening and closing slot to block the passage of fruits. When the two sets of magnetic blocks 1 move away from each other, the opening and closing section 1 and the opening and closing section 2 separate to expand the opening and closing slot to allow the passage of fruits.

[0020] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, wherein: a discharge bin is provided on one side of the accommodating bin, the receiving groove is provided on the top of the discharge bin, the discharge part comprises a flexible buffer pad 2 arranged inside the discharge bin, a discharge trough 1 arranged between the accommodating bin and the discharge bin, and a magnetic suction block 2 fixedly installed inside the discharge bin and adapted to the magnetic suction block 1;

[0021] The second flexible buffer pad is arranged obliquely, the accommodating bin is arranged at the bottom of the first unloading trough, and the second magnetic block and the first magnetic block are attracted to each other by magnetism.

[0022] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, the storage box is slidably connected to the storage bin in the longitudinal direction, a support spring adapted to the storage box is provided at the bottom of the storage bin, the storage box comprises a hard outer box slidably connected to the storage bin and a soft inner box provided inside the hard outer box, both sides of the hard outer box are provided with transport grooves, and the hard outer box and the soft inner box are both provided with unloading grooves 2 on one side close to the unloading groove 1;

[0023] The bottom surface of the soft inner box is an inclined surface, and the highest point of the bottom surface of the soft inner box is not higher than the second unloading chute.

[0024] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, a limiting member 1 is provided between the hard outer box and the accommodating bin, and the limiting member 1 includes a groove 1 provided inside the accommodating bin, a limiting spring 1 provided in the groove 1, a limiting ball 1 provided at an end of the limiting spring 1, and a limiting groove 1 provided on the outer wall of the hard outer box and adapted to the limiting ball 1.

[0025] The limiting grooves are provided with multiple groups along the longitudinal direction, and the spacing between adjacent groups of limiting grooves is not less than the average diameter of the fruit to be picked. When the limiting ball is inserted into the limiting groove of the lowermost group, the highest point of the bottom surface of the soft inner box is connected to the lowest point of the unloading chute.

[0026] As a preferred solution of the automatic identification fruit picking vehicle of the present invention, wherein: a sealing plate adapted to the second unloading trough is slidably connected to one side of the hard outer box, and a second limiting member is provided between the sealing plate and the accommodating bin, and the second limiting member includes a second groove provided inside the accommodating bin, a second limiting spring provided in the second groove, a second limiting ball provided at the two ends of the limiting spring, and a second limiting groove provided on the outer wall of the sealing plate and adapted to the second limiting ball;

[0027] When the limiting ball 2 is inserted into the limiting groove 2, the lowest point of the sealing plate is not lower than the highest point of the unloading groove 1.

[0028] The automatic identification fruit picking vehicle of the present invention has the following beneficial effects: the present invention can pick multiple fruits near a certain position of a fruit tree at one time and temporarily store them through the cooperation between the travel component, the picking component and the storage component, and then put the picked fruits into the storage box on the picking vehicle for storage, thereby eliminating the trouble of performing the storage box storage action for each fruit picked, thereby improving the picking efficiency, and both temporary storage and storage box storage actions cause less damage to the fruit itself, thereby improving the yield rate.

[0029] Based on the same inventive concept, another object of the present invention is to provide a working method of an automatic identification fruit picking vehicle.

[0030] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a working method of an automatic identification fruit picking vehicle, using the automatic identification fruit picking vehicle, and operating according to the following steps:

[0031] S1: Automatically identify the positions of the fruit trees to be picked, collect the position information of the fruit trees to be picked on both sides of the target fruit tree row through the information collection unit 1, and obtain a walking route that can pass through the positions of all the fruit trees to be picked on the target fruit tree row.

[0032] The control unit issues a control instruction to the driving unit according to the obtained walking route information, so that the driving unit drives the universal walking wheel to walk along the current walking route according to the control instruction.

[0033] When the information collection unit 1 recognizes that the position of the target fruit tree to be picked is within the picking range, the control unit 2 drives the connecting part to drive the picking part to move out of the storage slot;

[0034] S2: Automatically pick fruits. After the picking part moves out of the storage slot, the information collection unit 2 collects the location information of the currently pickable fruits.

[0035] The control unit 2 drives the connection part according to the collected position information of the fruit that can be picked, so that the picking part on one side of the connection part is close to the position of the fruit that can be picked currently for picking.

[0036] When the picking part picks the fruit, the control unit 2 drives the connecting part, so that the connecting part drives the picking part to be stored in the storage slot.

[0037] After the picking part stores the fruits into the storage tank, the unloading part takes the fruits picked in the picking part out into the storage box.

[0038] After the picked fruits in the picking part are taken out, the second control unit drives the connecting part to drive the picking part to move out of the storage slot, and then the step S2 is repeated to pick the fruits;

[0039] S3: When all the fruits on the target fruit tree to be picked are picked, repeat step S1 to find the location of the next target fruit tree to be picked, and then repeat step S2 to pick the fruits;

[0040] S4: When the storage box is full of picked fruits, the full storage box is removed from the storage bin;

[0041] S5: Load the empty storage boxes into the storage bin, and then repeat steps S1-S4.

[0042] The beneficial effects of the working method of the automatic identification fruit picking vehicle of the present invention are the same as the beneficial effects of the automatic identification fruit picking vehicle, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0044] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention as a whole from a top view.

[0045] Figure 2 It is a schematic diagram of the control principle of the walking component and the picking component of the present invention.

[0046] Figure 3 It is a schematic diagram of the three-dimensional structure of the present invention as a whole when viewed from an upward angle.

[0047] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention during overall picking.

[0048] Figure 5 It is a schematic diagram of the three-dimensional structure of the picking component of the present invention when picking.

[0049] Figure 6 It is a schematic diagram of the three-dimensional structure of the picking assembly of the present invention when it is stored.

[0050] Figure 7 It is a front cross-sectional structural schematic diagram of the storage bag of the present invention when the magnetic suction blocks are attracted to each other.

[0051] Figure 8 It is a front cross-sectional structural schematic diagram of the magnetic attraction block 1 of the storage bag of the present invention when it is separated.

[0052] Fig. 9 It is a schematic diagram of the three-dimensional structure when the storage box of the present invention is installed in the accommodating bin.

[0053] Fig.10 It is a schematic diagram of the three-dimensional structure inside the storage bin of the present invention.

[0054] Fig.11 It is a front cross-sectional structural schematic diagram of the storage bag of the present invention when the magnetic blocks are attracted to each other after the storage bag is placed in the storage slot.

[0055] Fig.12 It is a front cross-sectional structural schematic diagram of the present invention when the magnetic block 1 and the magnetic block 2 are attracted to each other after the storage bag is placed in the storage slot.

[0056] Fig.13 It is a schematic diagram of the side cross-sectional structure of the storage box of the present invention after being installed in the accommodating bin.

[0057] Fig.14 For the present invention Fig.13An enlarged schematic diagram of the structure at point A is shown.

[0058] Fig.15 It is a schematic diagram of the front cross-sectional structure of the storage box of the present invention after being installed in the accommodating bin.

[0059] Fig.16 For the present invention Fig.15 An enlarged schematic diagram of the structure at point B is shown.

[0060] In the figure: 100, walking assembly; 101, carriage shell; 102, universal walking wheel; 103, driving unit; 104, control unit 1; 105, information collection unit 1; 200, picking assembly; 201, control unit 2; 201a, adjustment member 1; 201b, adjustment member 2; 201c, adjustment member 3; 202, connecting part; 202a, connecting seat; 202b, telescopic rod 1; 202c, telescopic rod Retractable rod 2; 203, picking part; 203a, connecting ring; 203b, picking teeth; 203c, storage bag; 203c-1, main bag body; 203c-2, auxiliary bag body; 203c-3, opening 1; 203c-4, opening 2; 203c-5, elastic rope; 203d, opening and closing piece; 203d-1, opening and closing groove; 203d-2, magnetic block 1; 203d-3, flexible buffer pad 1; 203d -4, opening and closing section 1; 203d-5, opening and closing section 2; 204, information collection unit 2; 300, storage component; 301, storage bin; 301a, unloading bin; 301b, support spring; 302, storage box; 302a, hard outer box; 302a-1, sealing plate; 302b, soft inner box; 302c, handling trough; 302d, unloading trough 2; 302e, limiter 1; 302e-1, groove 1; 302e-2, limit spring 1; 302e-3, limit ball 1; 302e-4, limit groove 1; 302f, limit piece 2; 302f-1, groove 2; 302f-2, limit spring 2; 302f-3, limit ball 2; 302f-4, limit groove 2; 303, storage groove; 304, unloading part; 304a, flexible buffer pad 2; 304b, unloading groove 1; 304c, magnetic block 2. DETAILED DESCRIPTION

[0061] In order to make the objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0062] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0063] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments. Example 1

[0064] Reference Figure 1-Figure 4 , which is the first embodiment of the present invention, provides an automatic identification fruit picking vehicle and a working method, which can achieve the effect of high-efficiency fruit picking, and comprises: a walking component 100, a picking component 200 and a storage component 300. The walking component 100 can freely walk between target fruit tree rows, and automatically identify and stay at the position of the fruit tree to be picked. The picking component 200 is provided with two groups and symmetrically distributed on both sides of the vehicle body 101. Since fruit trees are generally planted in rows with equal spacing, when walking between the rows, the fruit trees on both sides of the rows can be picked at the same time. The working directions of the two sides are opposite and there will be no interference, and there is no need to go back and repeat the walking route, which can greatly improve the working efficiency.

[0065] Specifically, the walking component 100 includes a carriage shell 101, universal walking wheels 102 symmetrically arranged on both sides of the bottom of the carriage shell 101, a driving unit 103 arranged in the carriage shell 101 and used to drive the universal walking wheels 102, and a control unit 104 arranged in the carriage shell 101 and connected to the driving unit 103. An information collection unit 105 for identifying the current route environment is provided on the outside of the carriage shell 101. The information collection unit 105 collects current environmental information and transmits it to the control unit 104 in the form of an electrical signal. The control unit 104 issues a control instruction to the driving unit 103 according to the collected environmental information, and the driving unit 103 drives the universal walking wheels 102 to walk normally in the current environment according to the control instruction.

[0066] The universal wheel 102 is a prior art, and in this embodiment, the driving unit 103 also includes a telescopic component, which connects the universal wheel 102 to the carriage shell 101. The distance between the universal wheel 102 and the carriage shell 101 can be adjusted by the telescopic component to facilitate avoiding obstacles. The control unit 104 and the information collection unit 105 are also prior art. The control unit 104 has a built-in chip, which is a CPU central processing unit and is the final execution unit for information processing and program running; the information collection unit 105 includes a GPS positioning sensor, a radar sensor, a visual sensor, etc., which can be installed on the outer wall of the carriage shell 101, and can obtain the image of the fruit tree to be picked, the distance between them, and the route environment between the fruit trees to be picked. The control unit 104 controls the driving unit 103 to drive the universal wheel 102 to the position of the fruit tree to be picked according to the environmental information collected by the information collection unit 105.

[0067] Furthermore, the picking component 200 includes a control unit 201 arranged in the carriage shell 101, a connecting part 202 arranged on one side of the carriage shell 101 and driven by the control unit 201, and a picking part 203 arranged on one side of the connecting part 202 and used for picking fruits. An information collection unit 204 for identifying pickable fruits is provided on one side of the picking part 203. The information collection unit 204 collects position information of the current pickable fruits and transmits it to the control unit 201 with an electrical signal. The control unit 201 drives the connecting part 202 according to the collected position information of the pickable fruits, so that the picking part 203 on one side of the connecting part 202 is close to the position of the current pickable fruits for picking. The control unit 201 and the information collection unit 204 are also prior art. The control unit 201 also has a built-in chip, which is a CPU central processing unit and is the final execution unit for information processing and program operation. The information collection unit 204 includes a GPS positioning sensor, a radar sensor, a visual sensor, etc., which can be installed on the outside of the picking unit 203 to obtain the image of the fruit to be picked on the fruit tree and the position coordinates. The control unit 201 determines that the ripe fruit image collected by the information collection unit 204 is a fruit that can be picked, and then drives the connecting part 202 to drive the picking unit 203 to move to the position where the fruit can be picked for picking.

[0068] Among them, the storage component 300 is arranged inside the carriage shell 101, including a accommodating bin 301 arranged in the carriage shell 101, a storage box 302 detachably installed in the accommodating bin 301, a storage groove 303 arranged at one side of the accommodating bin 301 and adapted to the picking part 203, and a unloading part 304 arranged in the accommodating bin 301 and adapted to the picking part 203. When the picking part 203 is stored in the storage groove 303, the unloading part 304 takes the fruit picked in the picking part 203 out into the storage box 302. When picking is not in progress, the picking part 203 is stored to both sides of the carriage shell 101 through the connecting part 202. At this time, the picking part 203 is also stored in the storage groove 303. After the picking part 203 is full of fruits, it can also be stored in the storage groove 303 to put the fruits into the storage box 302. After the fruits are taken out, they are moved out of the storage groove 303 to continue picking. After the storage box 302 is full of fruits, the fruit picking vehicle can be moved back through the universal walking wheel 102, which is convenient for the staff to disassemble and remove the storage box 302 from the accommodating bin 301, and then load the empty storage box 302 into the accommodating bin 301, and then the fruit picking vehicle returns to work.

[0069] A working method of an automatic identification fruit picking vehicle is operated according to the following steps: S1: The position information of the fruit trees to be picked on both sides of the target fruit tree row is collected by the information collection unit 105, and a walking route that can pass through all the positions of the fruit trees to be picked on the target fruit tree row is obtained. The control unit 104 issues a control instruction to the driving unit 103 according to the obtained walking route information, so that the driving unit 103 drives the universal walking wheel 102 to walk along the current walking route according to the control instruction. When the information collection unit 105 recognizes that the position of the target fruit tree to be picked is within the picking range, the control unit 201 drives the connecting part 202 to drive the picking part 203 to move out of the storage slot 303; S2: After the picking part 203 moves out of the storage slot 303, the information collection unit 204 collects the position information of the currently pickable fruit, and the control unit 201 drives the connecting part 202 according to the collected position information of the pickable fruit, so that the picking part 203 on one side of the connecting part 202 is close to the current The picking part 203 can pick the fruit at the position where the fruit can be picked. After the picking part 203 picks the fruit, the control unit 201 drives the connecting part 202, so that the connecting part 202 drives the picking part 203 to be stored in the storage groove 303. After the picking part 203 is stored in the storage groove 303, the unloading part 304 takes the picked fruit in the picking part 203 out of the storage box 302. After the picked fruit in the picking part 203 is taken out, the control unit 201 drives the connecting part 202 to drive the picking part 203 to be stored in the storage groove 303. The picking part 203 moves out of the storage slot 303, and then step S2 is repeated to pick fruits; S3: when the fruits on the target fruit tree to be picked are picked, step S1 is repeated to find the position of the next target fruit tree to be picked, and then step S2 is repeated to pick fruits; S4: when the storage box 302 is full of picked fruits, the full storage box 302 is disassembled and removed from the accommodating bin 301; S5: the empty storage box 302 is loaded into the accommodating bin 301, and then steps S1-S4 are repeated. Example 2

[0070] Reference Figure 1-Figure 10 , which is the second embodiment of the present invention. Different from the previous embodiment, this embodiment provides a preferred implementation structure of the picking component 200, which can further improve the picking efficiency and reduce the damage to the fruit during picking.

[0071] Specifically, the connecting part 202 includes a connecting seat 202a arranged in the car body 101, a telescopic rod 1 202b arranged on the top of the connecting seat 202a, and a telescopic rod 202c rotatably connected to the end of the telescopic rod 1 202b. The picking part 203 is arranged at an end of the telescopic rod 202c away from the telescopic rod 1 202b. The telescopic rod 1 202b and the telescopic rod 203 are existing technologies and can be driven by electric drive to move the picking part 203.

[0072] The control unit 201 includes an adjusting member 1 201a disposed in the carriage housing 101 and used to drive the connecting seat 202a to rotate along the horizontal plane, an adjusting member 201b disposed at one side of the connecting seat 202a and used to drive the telescopic rod 1 202b to rotate along the vertical plane, and an adjusting member 3 201c disposed at the end of the telescopic rod 1 202b and used to drive the telescopic rod 203 to rotate along the vertical plane. The adjusting member 1 201a, the adjusting member 201b and the adjusting member 3 201c are all prior art and can be driven to rotate by a motor or the like. When it is necessary to pick fruits, the telescopic rod 1 202b and the telescopic rod 2 203 are driven to rotate along the vertical plane through the adjusting member 201b and the adjusting member 3 201c, and the height of the picking part 203 is adjusted to move the storage bag 203c out of the storage slot 303. The connecting seat 202a can be driven to rotate along the horizontal plane through the adjusting member 1 201a, thereby adjusting the picking angle of the picking part 203 from the fruit to be picked.

[0073] Furthermore, the picking part 203 includes a connecting ring 203a detachably connected to the end of the second telescopic rod 202c, a picking tooth piece 203b fixedly connected to one side of the connecting ring 203a, and a storage bag 203c detachably connected to the other side of the connecting ring 203a. The storage bag 203c is detachably connected for easy replacement. The angle between the connecting ring 203a and the second telescopic rod 202c is 180°, which is convenient for controlling the picking angle through the second telescopic rod 202c. When the second telescopic rod 202c is kept in a horizontal state, the angle between the storage bag 203c and the second telescopic rod 202c is 90°, so that the storage bag 203c is drooped most of the time to prevent the fruit in the bag from falling. When picking fruits, the telescopic rod 202c is tilted toward the position of the fruits to be picked, and then after the picking part 203 moves toward the fruits to be picked, the connecting ring 203a is moved to the position below the fruits to be picked and placed obliquely, and the opening 203c-3 of the storage bag 203c remains obliquely upward to receive the fruits to be picked, and then the fruit roots and branches can be passed through the gaps between the picking teeth 203b, and then after the picking teeth 203b apply pulling force to the fruits to be picked, the fruits can be pulled apart from the roots and branches.

[0074] The storage bag 203c includes a main bag body 203c-1 and a secondary bag body 203c-2 connected to the side of the connecting ring 203a, the secondary bag body 203c-2 is located inside the main bag body 203c-1, and the secondary bag body 203c-2 is a conical shape with a larger top and a smaller bottom. After the fruit is stored in the storage bag 203c, the bottom of the storage bag 203c naturally faces downward under the action of gravity, which can prevent the fruit stored in the bag from falling out.

[0075] Preferably, the height L1 of the auxiliary bag body 203c-2 is smaller than the height L2 of the main bag body 203c-1, and the upper and lower sides of the auxiliary bag body 203c-2 are respectively provided with a penetrating opening 1 203c-3 and an opening 203c-4, the edge of the opening 1 203c-3 on the upper side is connected to the bag mouth of the main bag body 203c-1, and the edge of the opening 2 203c-4 on the lower side is connected by an elastic rope 203c-5, and the auxiliary bag body 203c-2 is always connected to the main bag body 203c-1 by the tension rope.

[0076] When the elastic rope 203c-5 is not pulled by an external force, the cross-sectional area of ​​the second opening 203c-4 is smaller than the cross-sectional area of ​​the fruit to be picked. When the elastic rope 203c-5 is pulled open by an external force, the cross-sectional area of ​​the second opening 203c-4 is larger than the cross-sectional area of ​​the fruit to be picked. It is worth noting that the height of the second opening 203c-4 from the bottom of the main bag body 203c-1 to the bottom of the auxiliary bag body 203c-2 should not be too high. Generally, it is best to set it to 3-5 times the diameter of the fruit to be picked. It is set accordingly according to the type of fruit to be picked, so as to prevent the fruit falling from the second opening 203c-4 from being damaged by excessive impact.

[0077] During the picking process, the telescopic rod 1 202b and the telescopic rod 203 are driven to various angles, and the opening 1 203c-3 tends to move horizontally or obliquely downward. After the fruits on the auxiliary bag body 203c-2 fall into the main bag body 203c-1, the elastic rope 203c-5 recovers its deformation. At this time, the cross-sectional area of ​​the opening 203c-4 is smaller than the cross-sectional area of ​​the fruits in the bag. The auxiliary bag body 203c-2 is always connected to the main bag body 203c-1 by the tension rope, so that the fruits in the main bag body 203c-1 cannot pass through the opening 203c-4 into the auxiliary bag body 203c-2, thereby preventing the picked fruits from falling.

[0078] The rest of the structure is the same as that of Example 1.

[0079] Picking process: When it is necessary to pick fruits, the adjusting member 201b and the adjusting member 3 201c are used to drive the telescopic rod 1 202b and the telescopic rod 203 to rotate along the vertical plane, and the height of the picking portion 203 is adjusted, so that the storage bag 203c is moved out of the storage slot 303. The adjusting member 1 201a can drive the connecting seat 202a to rotate along the horizontal plane, and then the picking angle of the picking portion 203 to the fruit to be picked is adjusted. The telescopic rod 1 202b and the telescopic rod 203 are used to drive the picking portion 203 to move toward the fruit to be picked, so that the connecting ring 203a moves to the position where the fruit is to be picked. The opening 203c-3 of the storage bag 203c below the picked fruit is kept upward to receive the picked fruit, and the fruit root branch is close to the gap between the picking teeth 203b, and then the telescopic rod 202c is driven to contract, thereby driving the connecting ring 203a to be pulled toward the telescopic rod 202c. During the pulling back process of the connecting ring 203a, the gap between the picking teeth 203b passes through the fruit root branch, and the picking teeth 203b apply pulling force to the fruit to be picked until the fruit is separated from the root branch, and the fruit falls into the storage bag 203c after being separated from the root branch.

[0080] Temporary storage process of fruits: after the fruits fall, they will enter the auxiliary bag body 203c-2 through the opening 1 203c-3. When the fruits fall onto the auxiliary bag body 203c-2, the elastic rope 203c-5 will be stretched open by gravity, thereby stretching the opening 203c-4, so that the cross-sectional area of ​​the opening 203c-4 is larger than the cross-sectional area of ​​the fruits, and then the fruits fall to the bottom of the main bag body 203c-1. The inner wall of the main bag body 203c-1 is provided with a flexible buffer pad 1 203d-3, which can reduce the impact force of the falling fruits and cause damage to the fruits. Since the height L1 of the auxiliary bag body 203c-2 is smaller than the height L2 of the main bag body 203c-1, that is, the volume of the main bag body 203c-1 except the auxiliary bag body 203c-2 is larger than the volume of the auxiliary bag body 203c-2, and then the main bag body 203c-1 is filled with water. 03c-1 can store multiple fruits; after the fruits on the auxiliary bag body 203c-2 fall into the main bag body 203c-1, the elastic rope 203c-5 recovers its deformation. At this time, the cross-sectional area of ​​the second opening 203c-4 is smaller than the cross-sectional area of ​​the fruits in the bag. The auxiliary bag body 203c-2 is always connected with the tension rope in the main bag body 203c-1, so that the fruits in the main bag body 203c-1 cannot pass through the second opening 203c-4 to enter the auxiliary bag body 203c-2, thereby preventing the picked fruits from falling, and then picking multiple fruits at a certain place on the fruit tree separately, and temporarily storing them in the main bag body 203c-1, so as to avoid the main bag body 203c-1 repeatedly extending into the storage groove 303, and preventing the telescopic rod 1 202b and the telescopic rod 202c from moving too far, thereby reducing the picking efficiency. Example 3

[0081] Reference Figure 1-Figure 16, which is the third embodiment of the present invention. Different from the previous embodiment, this embodiment provides a preferred implementation structure of the storage component 300 and the opening and closing member 203d, which can reduce the damage to the fruit during storage, automatically store the fruit, and improve the working efficiency.

[0082] Specifically, the picking part 203 also includes an opening and closing piece 203d arranged at the bottom of the main bag body 203c-1, and the opening and closing piece 203d includes an opening and closing groove 203d-1 and a magnetic block 203d-2 arranged at the bottom of the main bag body 203c-1. A flexible buffer pad 203d-3 is provided on the inner wall of the main bag body 203c-1 close to the magnetic block 203d-2. The opening and closing groove 203d-1 separates the bottom of the main bag body 203c-1 into an opening and closing section 1 203d-4 and an opening and closing section 2 203d-5. The magnetic block 1 203d-2 is provided with two groups and magnetically attracts each other, and the two groups of magnetic blocks 1 203d-2 are respectively arranged on the outer walls of the opening and closing section 1 203d-4 and the opening and closing section 2 203d-5. The main bag body 203c-1 can be made of a cloth bag or other material, and needs to have a certain toughness to ensure that the opening and closing section 1 203d-4 and the opening and closing section 2 203d-5 can be separated and folded, and also needs to have a certain elasticity to ensure that the opening and closing section 1 203d-4 and the opening and closing section 2 203d-5 are reset when they are close together.

[0083] When the two groups of magnetic blocks 1 203d-2 are attracted to each other, the opening and closing section 1 203d-4 and the opening and closing section 2 203d-5 are close to each other to reduce the opening and closing slot 203d-1 to block the fruit from passing through, and when the two groups of magnetic blocks 1 203d-2 are away from each other, the opening and closing section 1 203d-4 and the opening and closing section 2 203d-5 are separated to expand the opening and closing slot 203d-1 to allow the fruit to pass through. The total gravity of the fruits temporarily stored in the main bag body 203c-1 is not greater than the friction between the two groups of magnetic blocks 1 203d-2 that attract each other, so as to prevent the main bag body 203c-1 from squeezing and separating the two groups of magnetic blocks 1 203d-2 that attract each other due to the excessive number of fruits temporarily stored in the main bag body 203c-1.

[0084] Furthermore, a discharge bin 301a is provided on one side of the containing bin 301, a receiving groove 303 is provided on the top of the discharge bin 301a, and the discharge part 304 includes a flexible buffer pad 2 304a arranged inside the discharge bin 301a, a discharge groove 1 304b arranged between the containing bin 301 and the discharge bin 301a, and a magnetic block 2 304c fixedly installed inside the discharge bin 301a and adapted to the magnetic block 1 203d-2. The second magnetic block 304c is fixedly arranged in the unloading bin 301a, and the second magnetic blocks 304c on both sides can be attracted to the first magnetic blocks 203d-2 on both sides respectively. Since the position of the storage groove 303 relative to the connecting seat 202a is fixed, the angle is confirmed every time the storage bag 203c enters the storage groove 303, and the magnetic blocks 203d-2 on both sides can be easily arranged to be close to the second magnetic blocks 304c on both sides respectively, and then after the storage bag 203c enters the storage groove 303, the magnetic block 1 203d-2 will be close to the second magnetic block 304c, and the attraction of the second magnetic block 304c to the magnetic block 1 203d-2 overcomes the attraction between the magnetic blocks 1 203d-2.

[0085] The flexible cushion pad 2 304a is obliquely arranged, the storage bin 301 is arranged at the bottom of the discharge trough 1 304b, and the magnetic block 2 304c and the magnetic block 1 203d-2 are attracted to each other by magnetism. The flexible cushion pad 2 304a can be set as a cloth of a certain thickness, and the height of the flexible cushion pad 2 304a from the opening and closing groove 203d-1 of the storage bag 203c is set within an appropriate range, so that after the fruit falls into the flexible cushion pad 2 304a, a certain elastic deformation is experienced, and then the fruit is rolled down to the discharge trough 1 304b, which is convenient for protecting the fruit.

[0086] Furthermore, the storage box 302 is connected to the storage bin 301 by sliding in the longitudinal direction, and a support spring 301b adapted to the storage box 302 is provided at the bottom of the storage bin 301. The storage box 302 includes a hard outer box 302a connected to the storage bin 301 by sliding and a soft inner box 302b provided inside the hard outer box 302a. A conveying groove 302c is provided on both sides of the hard outer box 302a, and a discharge groove 2 302d is provided through the hard outer box 302a and the soft inner box 302b on one side close to the discharge groove 1 304b. In this embodiment, multiple groups of support springs 301b are provided and evenly distributed between the hard outer box 302a and the storage bin 301, and the soft inner box 302b is provided as a foam box to protect the fruits stored inside, and the soft inner box 302b is detachably connected to the hard outer box 302a for easy replacement.

[0087] The bottom surface of the soft inner box 302b is an inclined surface, and the highest point of the bottom surface of the soft inner box 302b is not higher than the second discharge chute 302d. The inclined angle range of the bottom surface of the soft inner box 302b does not need to be too large, so as not to affect the storage space. The height difference between the highest point and the lowest point is not greater than the diameter of a fruit. The inclined angle is generally preferably between 3°-10°, so that the fruit can roll from a high place to a low place after entering the second discharge chute 302d from the second discharge chute 302d, and then be evenly distributed on the bottom surface of the soft inner box 302b. In particular, when the storage box 302 presses down the support spring 301b, the fruit continues to enter the storage box 302, which will inevitably cause a certain vibration in the storage box 302, thereby promoting the slight movement of the fruit in the storage box 302 and even distribution along the inclined bottom surface.

[0088] A limiting member 302e is provided between the hard outer box 302a and the storage bin 301, and the limiting member 302e includes a groove 302e-1 provided inside the storage bin 301, a limiting spring 302e-2 provided in the groove 302e-1, a limiting ball 302e-3 provided at the end of the limiting spring 302e-2, and a limiting groove 302e-4 provided on the outer wall of the hard outer box 302a and adapted to the limiting ball 302e-3. Multiple groups of limiting members 302e are provided to provide uniform limiting support force, and the storage box 302 and the storage bin 301 are limited and blocked by the limiting ball 302e-3 and the limiting groove 302e-4, so as to prevent the storage box 302 from being blocked when passing through the unloading chute 2 302d due to excessive vibration amplitude of the supporting spring 301b. It is ensured that the fruits stored in the storage box 302 are always lower than the discharge chute 304b, and the height difference between the two is always kept within a relatively low range, so as to reduce the impact of fruit storage.

[0089] There are multiple groups of limiting grooves 302e-4 along the longitudinal direction, and the spacing between adjacent groups of limiting grooves 302e-4 is not less than the average diameter of the fruit to be picked. When the limiting ball 302e-3 is inserted into the limiting groove 302e-4 of the lowest group, the highest point of the bottom surface of the soft inner box 302b is connected to the lowest point of the unloading trough 302d. According to the different types of fruits picked, the total elastic coefficient of each group of support springs 301b is set by Hooke's law, so that when a layer of fruits is covered on the bottom surface of the soft inner box 302b, the limiting ball 302e-3 compresses the limiting spring 302e-2 and enters the groove 302e-1, and moves out from the limiting groove 302e-4 of the lowermost group of the hard outer box 302a, and the hard outer box 302a and the soft inner box 302b as a whole move downward for a distance under the gravity of the fruit, so that the limiting ball 302e-3 moves out of the groove 302e-1 and is limited into the adjacent group of limiting grooves 302e-4 under the action of the limiting spring 302e-2, and the support spring 301b is compressed and displaced for a distance to reach a balance with the combined force of the gravity and the blocking friction of the limiting member 302e again.

[0090] Preferably, a sealing plate 302a-1 adapted to the second unloading chute 302d is slidably connected to one side of the hard outer box 302a, and a limiting member 302f is provided between the sealing plate 302a-1 and the accommodating bin 301. The limiting member 302f includes a groove 302f-1 provided inside the accommodating bin 301, a limiting spring 302f-2 provided in the groove 302f-1, a limiting ball 302f-3 provided at the end of the limiting spring 302f-2, and a limiting groove 302f-4 provided on the outer wall of the sealing plate 302a-1 and adapted to the limiting ball 302f-3.

[0091] When the limiting ball 302f-3 is inserted into the limiting groove 302f-4, the lowest point of the sealing plate 302a-1 is not lower than the highest point of the discharge groove 304b, so that the fruit can pass through the discharge groove 304b and the limiting groove 302f-4 to enter the storage box 302. During the downward movement of the storage box 302, when the limit groove 2 302f-4 on the outer wall of the sealing plate 302a-1 moves to the position of the limit ball 2 302f-3, the limit ball 2 302f-3 is stuck in the limit groove 2 302f-4 under the elastic force of the limit spring 2 302f-2, and then the storage box 302 continues to move downward, and the sealing plate 302a-1 is stopped by the limiting action of the limit ball 2 302f-3 and the limit groove 2 302f-4, thereby exposing the unloading groove 2 302d, until the hard outer box 302a contacts the support spring 301b and the limit ball 1 302e-3 is stuck in the limit groove 1 302e-4 of the lowest group of the hard outer box 302a, and the exposed part of the unloading groove 2 302d is completely adapted and connected with the unloading groove 1 304b.

[0092] The remaining structures are the same as those in Example 2.

[0093] Working principle:

[0094] When installing the idle storage box 302, the sealing plate 302a-1 of the outer wall of the hard outer box 302a is placed against the unloading bin 301a and aligned with the storage bin 301. During the downward movement of the storage box 302, the outer wall of the hard outer box 302a first squeezes the limiting ball 1 302e-3 and the limiting ball 2 302f-3 into the groove 1 302e-1 and the groove 2 302f-1 respectively, until the limiting groove 2 302f-4 of the outer wall of the sealing plate 302a-1 moves to the limiting ball 2 302f-3, and the limiting ball 2 302f-3 is pressed against the limiting spring 2 302f -2 is clamped into the second limiting groove 302f-4, and then the storage box 302 moves downward, and the sealing plate 302a-1 is stopped by the limiting action of the second limiting ball 302f-3 and the second limiting groove 302f-4, thereby exposing the second discharge groove 302d, until the hard outer box 302a hits the support spring 301b, the limiting ball 1 302e-3 is clamped into the lowermost limiting groove 1 302e-4 of the hard outer box 302a, and the exposed part of the second discharge groove 302d is completely adapted and connected with the first discharge groove 304b, completing the installation of the idle storage box 302. When the subsequent storage box 302 continues to move downward, the second discharge groove 302d continues to increase and always remains connected with the first discharge groove 304b, and the part of the second discharge groove 302d below the first discharge groove 304b is covered and blocked by the inner wall of the storage bin 301 to prevent the fruit from falling out or getting stuck.

[0095] After the main bag body 203c-1 storing the fruits is stored in the storage groove 303, the two groups of magnetic blocks 203d-2 on both sides of the bottom of the main bag body 203c-1 are attracted by the two groups of magnetic blocks 304c in the unloading bin 301a, and then the two groups of magnetic blocks 203d-2 move toward the magnetic blocks 304c on both sides respectively, and the movement of the magnetic blocks 203d-2 drives the opening and closing section 1 203d-4 to separate from the opening and closing section 2 203d-5, and then the opening and closing groove 203d-1 is expanded to allow the fruits to pass through, so that the fruits in the main bag body 203c-1 fall out of the main bag body 203c-1 and are released. Next, the fruits falling from the main bag 203c-1 fall onto the obliquely arranged flexible buffer pad 2 304a, and the impact force of the fall is buffered by the flexible buffer pad 2 304a to reduce the damage to the fruits themselves. The fruits roll along the inclined surface and move into the unloading chute 1 304b, and fall from the unloading chute 1 304b and the unloading chute 2 302d into the soft inner box 302b in the storage box 302. Since the bottom surface of the soft inner box 302b is an inclined surface, the fruits roll down from a higher position, so that the fallen fruits are distributed in the soft inner box 302b.

[0096] After the fruits in the main bag body 203c-1 are released, the positions of the telescopic rod 1 202b and the telescopic rod 2 202c are adjusted by adjusting the second adjusting piece 201b and the third adjusting piece 201c, so that the main bag body 203c-1 is moved out of the storage slot 303. During this process, the main bag body 203c-1 is pulled so that the magnetic block 1 203d-2 is gradually separated from the magnetic block 2 304c. After the magnetic block 1 203d-2 is separated from the magnetic block 2 304c, the external force attracted to the two groups of magnetic blocks 1 203d-2 is gradually reduced, and then the two groups of magnetic blocks 1 203d-2 are attracted to each other again until they are in contact with each other, and the opening and closing section 1 203d-4 and the opening and closing section 2 203d-5 are brought closer together again, and the opening and closing slot 203d-1 is reduced to block the passage of fruits, so that the fruits can continue to be picked.

[0097] When the amount of fruits stored in the storage box 302 increases gradually, the greater the gravity borne by the storage box 302, the greater the squeezing of the support spring 301b and the limiting member 302e. When a layer of fruits is spread on the bottom surface of the soft inner box 302b, the limiting ball 302e-3 compresses the limiting spring 302e-2 and enters the groove 302e-1, and moves out from the limiting groove 302e-4 of the lowermost group of the hard outer box 302a. The hard outer box 302a and the soft inner box 302b move downward for a distance as a whole under the gravity of the fruits, so that the limiting ball 302e-3 moves out of the groove 302e-1 and is limited into the limiting groove 302e-4 of the adjacent group under the action of the limiting spring 302e-2. Since the support spring 301b is compressed and displaced for a distance, it will reach a new balance with the combined force of the gravity and the blocking friction of the limiting member 302e. Since the spacing between adjacent groups of limiting grooves 1 302e-4 is not less than the average diameter of the fruits to be picked, the soft inner box 302b will not be higher than the discharge groove 1 304b after a layer of fruits is piled up, which is convenient for stacking the second layer of fruits. After the second layer of fruits is piled up, the storage box 302 moves down to continue compressing the support spring 301b, and the limiting ball 1 302e-3 is locked and positioned with another adjacent upper group of limiting grooves 1 302e-4.

[0098] After the fruit is full, the storage box 302 is taken out by pulling upward through the conveying groove 302c, and the limiting ball 302e-3 is squeezed into the groove 1 302e-1 through the upward pulling force, so that the storage box 302 is slid upward and removed. In this process, the limiting ball 302f-3 first slides relative to the storage box 302 by limiting the sealing plate 302a-1 and blocks the discharge groove 2 302d. Until the sealing plate 302a-1 completely closes the discharge groove 2 302d, the squeezing force on the limiting ball 302f-3 increases and then moves into the groove 2 302f-1, and then the sealing plate 302a-1 will move with the storage box 302 to prevent the fruit from falling out of the discharge groove 2 302d, completing the process of removing the storage box 302.

[0099] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An automatic identification fruit picking vehicle, characterized in that: include, A walking assembly (100) comprises a carriage shell (101), universal walking wheels (102) symmetrically arranged on both sides of the bottom of the carriage shell (101), a driving unit (103) arranged in the carriage shell (101) and used to drive the universal walking wheels (102), and a control unit (104) arranged in the carriage shell (101) and connected to the driving unit (103), wherein an information collection unit (105) for identifying the current route environment is arranged on the outside of the carriage shell (101), the information collection unit (105) collects current environment information and transmits it to the control unit (104) in the form of an electrical signal, the control unit (104) issues a control instruction to the driving unit (103) according to the collected environment information, and the driving unit (103) drives the universal walking wheels (102) to walk normally in the current environment according to the control instruction; A picking assembly (200), wherein the picking assembly (200) is provided with two groups and symmetrically distributed on both sides of a carriage shell (101), comprising a second control unit (201) arranged in the carriage shell (101), a connecting portion (202) arranged on one side of the carriage shell (101) and driven by the second control unit (201), and a picking portion (203) arranged on one side of the connecting portion (202) and used for picking fruits, wherein one side of the picking portion (203) is provided with a second information collection unit (204) for identifying pickable fruits, wherein the second information collection unit (204) collects position information of currently pickable fruits and transmits it to the second control unit (201) via an electrical signal, and the second control unit (201) drives the connecting portion (202) according to the collected position information of the pickable fruits, so that the picking portion (203) on one side of the connecting portion (202) is close to the position of the currently pickable fruits for picking; and, A storage assembly (300), the storage assembly (300) being arranged inside the carriage shell (101), comprising a storage bin (301) arranged inside the carriage shell (101), a storage box (302) detachably mounted inside the storage bin (301), a storage groove (303) arranged at one side of the storage bin (301) and adapted to the picking portion (203), and a discharge portion (304) arranged inside the storage bin (301) and adapted to the picking portion (203); when the picking portion (203) is stored in the storage groove (303), the discharge portion (304) takes the fruit picked from the picking portion (203) out into the storage box (302); The connecting portion (202) comprises a connecting seat (202a) arranged in the carriage shell (101), a telescopic rod 1 (202b) arranged on the top of the connecting seat (202a), and a telescopic rod 2 (202c) rotatably connected to the end of the telescopic rod 1 (202b), and the picking portion (203) is arranged at an end of the telescopic rod 2 (202c) away from the telescopic rod 1 (202b); The control unit 2 (201) comprises an adjusting member 1 (201a) disposed in the carriage housing (101) and used for driving the connecting seat (202a) to rotate along a horizontal plane, an adjusting member 2 (201b) disposed at one side of the connecting seat (202a) and used for driving the telescopic rod 1 (202b) to rotate along a vertical plane, and an adjusting member 3 (201c) disposed at the end of the telescopic rod 1 (202b) and used for driving the telescopic rod 2 (202c) to rotate along a vertical plane; The picking portion (203) comprises a connecting ring (203a) detachably connected to the end of the second telescopic rod (202c), a picking tooth piece (203b) fixedly connected to one side of the connecting ring (203a), and a storage bag (203c) detachably connected to the other side of the connecting ring (203a), wherein the angle between the connecting ring (203a) and the second telescopic rod (202c) is 180°, and when the second telescopic rod (202c) is kept in a horizontal state, the angle between the storage bag (203c) and the second telescopic rod (202c) is 90°; The storage bag (203c) comprises a main bag body (203c-1) and a secondary bag body (203c-2) connected to the side of the connection ring (203a); the secondary bag body (203c-2) is located inside the main bag body (203c-1), and the secondary bag body (203c-2) is in the shape of a cone with a larger top and a smaller bottom. The height L1 of the auxiliary bag body (203c-2) is smaller than the height L2 of the main bag body (203c-1); the upper and lower sides of the auxiliary bag body (203c-2) are respectively provided with a through opening 1 (203c-3) and an opening 2 (203c-4); the edge of the opening 1 (203c-3) located on the upper side is connected to the bag mouth of the main bag body (203c-1); the edge of the opening 2 (203c-4) located on the lower side is connected via an elastic rope (203c-5); and the auxiliary bag body (203c-2) and the main bag body (203c-1) are connected internally via a drawstring; When the elastic rope (203c-5) is not pulled by an external force, the cross-sectional area of ​​the second opening (203c-4) is smaller than the cross-sectional area of ​​the fruit to be picked; when the elastic rope (203c-5) is pulled open by an external force, the cross-sectional area of ​​the second opening (203c-4) is larger than the cross-sectional area of ​​the fruit to be picked.

2. The automatic identification fruit picking vehicle according to claim 1, characterized in that: The picking portion (203) further comprises an opening and closing member (203d) arranged at the bottom of the main bag body (203c-1), the opening and closing member (203d) comprising an opening and closing groove (203d-1) and a magnetic attraction block 1 (203d-2) arranged at the bottom of the main bag body (203c-1), a flexible buffer pad 1 (203d-3) being arranged on the inner wall of the main bag body (203c-1) close to the magnetic attraction block 1 (203d-2), the opening and closing groove (203d-1) dividing the bottom of the main bag body (203c-1) into an opening and closing section 1 (203d-4) and an opening and closing section 2 (203d-5), the magnetic attraction block 1 (203d-2) being provided with two groups and being magnetically attracted to each other, and the two groups of magnetic attraction blocks 1 (203d-2) being arranged on the outer walls of the opening and closing section 1 (203d-4) and the opening and closing section 2 (203d-5); When the two groups of magnetic blocks 1 (203d-2) are attracted and attached to each other, the opening and closing section 1 (203d-4) and the opening and closing section 2 (203d-5) move together to reduce the opening and closing slot (203d-1) to block the passage of fruit; when the two groups of magnetic blocks 1 (203d-2) move away from each other, the opening and closing section 1 (203d-4) and the opening and closing section 2 (203d-5) separate to expand the opening and closing slot (203d-1) to allow the passage of fruit.

3. The automatic identification fruit picking vehicle according to claim 2, characterized in that: A discharge bin (301a) is provided on one side of the accommodating bin (301), the receiving groove (303) is provided on the top of the discharge bin (301a), and the discharge portion (304) comprises a second flexible buffer pad (304a) provided inside the discharge bin (301a), a first discharge bin (304b) provided between the accommodating bin (301) and the discharge bin (301a), and a second magnetic attraction block (304c) fixedly installed inside the discharge bin (301a) and adapted to the first magnetic attraction block (203d-2); The second flexible buffer pad (304a) is arranged obliquely, the accommodating bin (301) is arranged at the bottom of the first discharge trough (304b), and the second magnetic attraction block (304c) and the first magnetic attraction block (203d-2) are attracted to each other by magnetism.

4. The automatic identification fruit picking vehicle according to claim 3, characterized in that: The storage box (302) is slidably connected to the storage bin (301) in the longitudinal direction; a support spring (301b) adapted to the storage box (302) is provided at the bottom of the storage bin (301); the storage box (302) comprises a hard outer box (302a) slidably connected to the storage bin (301) and a soft inner box (302b) provided inside the hard outer box (302a); transport grooves (302c) are respectively provided on both sides of the hard outer box (302a); and a second unloading groove (302d) is provided through the hard outer box (302a) and the soft inner box (302b) on one side close to the first unloading groove (304b); The bottom surface of the soft inner box (302b) is an inclined surface, and the highest point of the bottom surface of the soft inner box (302b) is not higher than the second discharge chute (302d).

5. The automatic identification fruit picking vehicle according to claim 4, characterized in that: A limiting member 1 (302e) is provided between the hard outer box (302a) and the accommodating bin (301), the limiting member 1 (302e) comprising a groove 1 (302e-1) provided inside the accommodating bin (301), a limiting spring 1 (302e-2) provided inside the groove 1 (302e-1), a limiting ball 1 (302e-3) provided at the end of the limiting spring 1 (302e-2), and a limiting groove 1 (302e-4) provided on the outer wall of the hard outer box (302a) and adapted to the limiting ball 1 (302e-3); The limiting grooves (302e-4) are provided with a plurality of groups in the longitudinal direction, and the spacing between adjacent groups of limiting grooves (302e-4) is not less than the average diameter of the fruit to be picked. When the limiting ball (302e-3) is inserted into the limiting grooves (302e-4) of the lowest group, the highest point of the bottom surface of the soft inner box (302b) is connected to the lowest point of the discharge trough (302d).

6. The automatic identification fruit picking vehicle according to claim 5, characterized in that: A sealing plate (302a-1) adapted to the second discharge trough (302d) is slidably connected to one side of the hard outer box (302a); a second limiting member (302f) is provided between the sealing plate (302a-1) and the accommodating bin (301); the second limiting member (302f) comprises a second groove (302f-1) provided inside the accommodating bin (301); a second limiting spring (302f-2) provided inside the second groove (302f-1); a second limiting ball (302f-3) provided at the end of the second limiting spring (302f-2); and a second limiting groove (302f-4) provided on the outer wall of the sealing plate (302a-1) and adapted to the second limiting ball (302f-3); When the second limiting ball (302f-3) is inserted into the second limiting groove (302f-4), the lowest point of the sealing plate (302a-1) is not lower than the highest point of the first discharge groove (304b).

7. A method for operating an automatic identification fruit picking vehicle, using the automatic identification fruit picking vehicle as claimed in any one of claims 1 to 6, characterized in that: Follow these steps: S1: Automatically identify the positions of the fruit trees to be picked, collect the position information of the fruit trees to be picked on both sides of the target fruit tree row through the information collection unit 1 (105), and obtain a walking route that can pass through the positions of all the fruit trees to be picked on the target fruit tree row. The control unit 1 (104) issues a control instruction to the driving unit (103) according to the acquired walking route information, so that the driving unit (103) drives the universal walking wheel (102) to walk along the current walking route according to the control instruction. When the information collection unit 1 (105) recognizes that the position of the target fruit tree to be picked is within the picking range, the control unit 2 (201) drives the connecting part (202) to drive the picking part (203) to move out of the storage slot (303); S2: Automatically picking fruits. After the picking part (203) moves out of the storage slot (303), the information collection unit 2 (204) collects the location information of the currently pickable fruits. The control unit 2 (201) drives the connection part (202) according to the collected position information of the fruit that can be picked, so that the picking part (203) on one side of the connection part (202) is close to the position of the current fruit that can be picked for picking. When the picking part (203) picks the fruit, the second control unit (201) drives the connecting part (202), so that the connecting part (202) drives the picking part (203) to be stored in the storage groove (303). After the picking portion (203) stores the fruits in the storage tank (303), the unloading portion (304) takes the fruits picked in the picking portion (203) out into the storage box (302). After the picked fruits are taken out of the picking part (203), the second control unit (201) drives the connecting part (202) to drive the picking part (203) to move out of the storage groove (303), and then repeats step S2 to pick the fruits; S3: When all the fruits on the target fruit tree to be picked are picked, repeat step S1 to find the location of the next target fruit tree to be picked, and then repeat step S2 to pick the fruits; S4: When the storage box (302) is full of picked fruits, the full storage box (302) is removed from the storage bin (301); S5: Load the empty storage box (302) into the storage bin (301), and then repeat steps S1-S4.

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