Spherical-like fruit and vegetable picking device and method

Abstract

The invention discloses a sphere-like fruit and vegetable picking device and method.The sphere-like fruit and vegetable picking device comprises a rack, an advancing unit and a picking unit, the advancing unit comprises a plurality of advancing assemblies, the advancing assemblies are divided into two advancing sets, and the two advancing sets are arranged in the length direction of the rack at intervals; the advancing assemblies in each advancing group are oppositely arranged in the width direction of the rack, the spacing distance of the advancing assemblies in each advancing group in the width direction of the rack is adjustable, the picking unit is connected with the rack, the picking unit is located between the two advancing groups in the length direction of the rack, and the picking unit is used for picking fruits and vegetables on the ground. The sphere-like fruit and vegetable picking device can be suitable for sphere-like fruit and vegetable picking operation under multiple ridge distances.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a spherical fruit and vegetable picking device and method. Background Art

[0002] Spherical fruits and vegetables are fruits and vegetables that are similar to a sphere. Common ones include cabbage, watermelon, cantaloupe, etc. For example, cabbage is also called head lettuce. Cabbage is one of the major fruits and vegetables in my country with high yield, and is currently mainly harvested manually.

[0003] Related art discloses some cabbage harvesters that use double-sided conveyor belts to apply clamping force to the cabbages for extraction. However, this method causes serious damage to the outer surface of the cabbages, and the picking width is fixed, which is not suitable for picking cabbages at different ridge distances. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a spherical fruit and vegetable picking device, which can be used for spherical fruit and vegetable picking operations under multiple ridge spacings.

[0005] The embodiment of the present invention also provides a method for picking spherical fruits and vegetables.

[0006] The spherical fruit and vegetable picking device of the embodiment of the present invention comprises: a frame; a traveling unit, the traveling unit comprises a plurality of traveling components, the plurality of traveling components are divided into two traveling groups, the two traveling groups are arranged at intervals in the length direction of the frame, the traveling components in each traveling group are arranged relatively to each other in the width direction of the frame, and the interval distance of the traveling components in each traveling group in the width direction of the frame is adjustable; a picking unit, the picking unit is connected to the frame, the picking unit is located between the two traveling groups in the length direction of the frame, and the picking unit is used for picking fruits and vegetables on the ground.

[0007] The spherical fruit and vegetable picking device according to the embodiment of the present invention can be applied to spherical fruit and vegetable picking operations at multiple ridge spacings.

[0008] In some embodiments, the traveling assembly includes a connecting frame, a driving component, a movable frame and wheels, the connecting frame is connected to the frame, the driving component is located at the bottom of the connecting frame, the movable frame is connected to the driving component, the driving component is used to drive the movable frame to move in the width direction of the frame, the wheels are installed at the bottom of the movable frame, and the wheels are rotatable relative to the movable frame.

[0009] In some embodiments, the driving component includes a driving screw, which passes through the connecting frame and is rotatable relative to the connecting frame. The upper end of the movable frame is mounted on the driving screw, and the movable frame is movable on the driving screw.

[0010] In some embodiments, the picking unit includes a mechanical arm and a grasping assembly, one end of the mechanical arm is connected to the frame, and the other end of the mechanical arm is connected to the grasping assembly, the grasping assembly includes a driving rod, a driving plate, a connecting rod component and a plurality of clamping claws, the driving rod is connected to the driving plate, one end of the connecting rod component is connected to the driving plate, and the other end of the connecting rod component is respectively connected to the plurality of clamping claws, and the driving rod and the driving plate can move closer to or away from the mechanical arm to drive the plurality of clamping claws closer to or away from each other through the connecting rod component.

[0011] In some embodiments, the picking unit further includes an image collector, which is connected to the driving plate and is located between the plurality of clamping claws.

[0012] In some embodiments, a buffer layer is provided on the inner side of the clamping claw, and the buffer layer is detachably connected to the clamping claw.

[0013] In some embodiments, the spherical fruit and vegetable picking device further includes a root cutting unit, wherein the root cutting unit includes a blade and a driver, and an output shaft of the driver is connected to the blade.

[0014] In some embodiments, the spherical fruit and vegetable picking device further includes a collecting box, the collecting box is connected to the frame, and the collecting box has a containing cavity inside.

[0015] The spherical fruit and vegetable picking method according to the embodiment of the present invention, using the spherical fruit and vegetable picking device according to any of the above embodiments, comprises the following steps: Set the picking path; Collect images of fruits and vegetables on the picking path, and transmit them to the processor after processing; Determining whether the diameter of the fruit and vegetable meets a first preset condition, and if so, picking the fruit and vegetable; The picking unit moves the picked fruits and vegetables to the root cutting unit for root cutting; The cut fruits and vegetables are transported to the collection box; In some embodiments, the method further includes determining whether the fruits and vegetables in the collection box meet a second preset condition, and if so, discharging the fruits and vegetables in the collection box. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a schematic structural diagram of a spherical fruit and vegetable picking device according to an embodiment of the present invention.

[0017] Figure 2 It is a schematic structural diagram of a traveling unit according to an embodiment of the present invention.

[0018] Figure 3 It is a schematic structural diagram of a picking unit according to an embodiment of the present invention.

[0019] Figure 4 It is a schematic diagram of the structure of the grabbing component of an embodiment of the present invention.

[0020] Figure 5 Schematic diagram of the structure of a root cutting unit according to an embodiment of the present invention.

[0021] Figure 6 It is a schematic structural diagram of a collection box according to an embodiment of the present invention.

[0022] Figure 7 The figure is a schematic diagram of the process of picking spherical fruits and vegetables according to an embodiment of the present invention.

[0023] Reference numerals: Frame 100, traveling unit 200, picking unit 300, root cutting unit 400, Connecting frame 1, Driving component 2, driving screw 21, hand wheel 22, Mobile frame 3, wheels 4, mechanical arm 5, Grabbing assembly 6, driving rod 61, driving plate 62, connecting rod component 63, clamping claw 64, Image collector 7, buffer layer 8, blade 9, driver 10, Collection box 11, bin door 111, weighing sensor 112, tilting frame 113, Power supply 12 , positioning module 13 , steering component 14 , translation frame 15 , connecting rod 16 . DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0025] like Figures 1 to 5As shown, the spherical fruit and vegetable picking device of the embodiment of the present invention includes a frame 100, a traveling unit 200 and a picking unit 300. The traveling unit 200 includes a plurality of traveling components, and the plurality of traveling components are divided into two traveling groups. The two traveling groups are arranged at intervals in the length direction of the frame 100. The traveling components in each traveling group are arranged relatively in the width direction of the frame 100, and the interval distance of the traveling components in each traveling group in the width direction of the frame 100 is adjustable. The picking unit 300 is connected to the frame 100. In the length direction of the frame 100, the picking unit 300 is located between the two traveling groups. The picking unit 300 is used to pick fruits and vegetables on the ground.

[0026] Specifically, Figure 1 As shown, for example, there are four traveling components, which are respectively installed around the frame 100. The traveling components can be moved in the left and right directions to adjust the spacing distance between the traveling components on the left and right sides. The picking unit 300 is located in the center of the frame 100, and the picking unit 300 extends downward to pick fruits and vegetables on the ground.

[0027] The spherical fruit and vegetable picking device of the embodiment of the present invention adjusts the spacing between the traveling components on the left and right sides by adjusting the position of the traveling component in the left and right directions, thereby adjusting the traveling width of the entire picking device, and can be suitable for spherical fruit and vegetable picking operations under multiple ridge spacings.

[0028] In some embodiments, the traveling assembly includes a connecting frame 1, a driving component 2, a mobile frame 3 and wheels 4, the connecting frame 1 is connected to the frame, the driving component 2 is located at the bottom of the connecting frame 1, the mobile frame 3 is connected to the driving component 2, the driving component 2 is used to drive the mobile frame 3 to move in the width direction of the frame, and the wheels 4 are installed at the bottom of the mobile frame 3, and the wheels 4 are rotatable relative to the mobile frame 3.

[0029] Specifically, Figure 2 As shown, the connecting frame 1 is installed at the bottom of the frame 100, the driving component 2 is installed on the connecting frame 1, the moving frame 3 extends in the up and down directions, the upper end of the moving frame 3 is connected to the driving component 2, and the lower end of the moving frame 3 is connected to the wheel 4, and the wheel 4 is rotatable relative to the moving frame 3.

[0030] Optionally, a steering component 14 is provided between the wheel 4 and the moving frame 3, one end of the steering component 14 is connected to the moving frame 3, and the other end of the steering component 14 is connected to the wheel 4. The steering component 14 can rotate around the moving frame 3 with the length direction of the moving frame 3 as the axis, thereby driving the wheel 4 to turn.

[0031] It should be noted that the entire picking device is powered by a power supply 12 , and the power supply 12 is installed on the frame 100 .

[0032] In some embodiments, the driving component 2 includes a driving screw 21, which penetrates the connecting frame 1 and is rotatable relative to the connecting frame 1. The upper end of the movable frame 3 is mounted on the driving screw 21, and the movable frame 3 is movable on the driving screw 21.

[0033] Specifically, Figure 2 As shown, the driving screw 21 extends in the left-right direction, and the left and right ends of the driving screw 21 are respectively pivotally connected to the connecting frame 1. A hand wheel 22 is provided on the outer side of the driving screw 21. Rotating the hand wheel 22 drives the driving screw 21 to rotate. The movable frame 3 is sleeved on the driving screw 21. When the driving screw 21 rotates, the movable frame 3 can be driven to move along the left-right direction of the driving screw 21.

[0034] Optionally, the hand wheel 22 can be replaced with a drive motor, which drives the drive screw 21 to rotate, thereby improving the automation of line spacing control. The controller is connected to the drive motor, and the controller is used to control the rotation of the drive motor, thereby improving the intelligence of line spacing control.

[0035] In some embodiments, the picking unit 300 includes a robotic arm 5 and a grabbing assembly 6, one end of the robotic arm 5 is connected to the frame 100, and the other end of the robotic arm 5 is connected to the grabbing assembly 6, the grabbing assembly 6 includes a driving rod 61, a driving plate 62, a connecting rod component 63 and a plurality of clamping claws 64, the driving rod 61 is connected to the driving plate 62, one end of the connecting rod component 63 is connected to the driving plate 62, and the other end of the connecting rod component 63 is respectively connected to the plurality of clamping claws 64, and the driving rod 61 and the driving plate 62 can move closer to or away from the robotic arm 5 to drive the plurality of clamping claws 64 to move closer to or away from each other through the connecting rod component 63.

[0036] Specifically, Figure 3 As shown, the upper end of the robot arm 5 is connected to the frame 100, and the lower end of the robot arm 5 is connected to the grabbing assembly 6. The robot arm 5 has 6 degrees of freedom and can drive the grabbing assembly 6 to move in the up and down, left and right, and front and back directions.

[0037] Optionally, the upper end of the robot arm 5 can be fixed on the translation frame 15, and the translation frame 15 can be movable along the length direction of the frame 100. For example, a roller is provided at the lower end of the translation frame 15, and a track is provided on the frame 100, and the roller is clamped in the track.

[0038] The grabbing assembly 6 also includes a fixed plate, which is connected to the robotic arm 5. A fixed seat is provided on the fixed plate, and the valley base faces downward. The driving plate 62 and the fixed plate are arranged at intervals in the up and down directions. The driving rod 61 is located between the driving plate 62 and the fixed plate, and there is a spacing distance between the driving rod 61 and the fixed plate. The driving rod 61 is movable in the up and down directions. When the driving rod 61 moves up and down, it can drive the driving plate 62 to move up and down. The connecting rod component 63 is located between the driving plate 62 and the clamping claw 64.

[0039] When the driving rod 61 moves closer to the fixed plate, the multiple clamping claws 64 gather inward. In other words, the spacing distance between the multiple clamping claws 64 is shortened to achieve clamping. Conversely, when the driving rod 61 moves away from the fixed plate, the multiple clamping claws 64 move away from each other and open.

[0040] The driving rod 61 and the driving plate 62 are used to drive the plurality of clamping claws 64 to move closer to or farther from each other, so as to realize the gathering and opening of the clamping claws 64, thereby realizing the actions of grabbing and putting down.

[0041] The clamping assembly cooperates with the robotic arm 5 to realize the picking of fruits and vegetables. That is, after the clamping assembly grabs the fruits and vegetables, the robotic arm 5 moves upward to pull out the fruits and vegetables. In order to better realize the picking of fruits and vegetables, the robotic arm 5 can be controlled to swing downward first and then move upward. In other words, after grabbing the fruits and vegetables, the roots of the fruits and vegetables are broken by swinging downward, and then the fruits and vegetables are picked by moving upward.

[0042] In some embodiments, the picking unit 300 further includes an image collector 7 , which is connected to the driving plate 62 and is located between the plurality of clamping claws 64 .

[0043] Specifically, Figure 4 As shown, the image collector 7 is installed on the driving board 62, and the image collection end of the image collector 7 is arranged toward the ground. The image collector 7 can collect fruit and vegetable information and transmit the image information to the processor. The processor transmits the fruit and vegetable position information to the mechanical arm 5 after algorithm analysis, so as to accurately grasp the fruit and vegetables. The image collector 7 is connected to the driving board 62. When the clamping claw 64 clamps the fruit and vegetables, the image collector 7 retreats appropriately, which can reduce the space occupied by the image collector 7 on the clamping space, so as to better grasp the fruit and vegetables, and also avoid the collision between the image collector 7 and the fruit and vegetables, which not only reduces the breakage rate of the fruit and vegetables, but also reduces or avoids the wear of the image collector 7.

[0044] In some embodiments, a buffer layer 8 is provided on the inner side of the clamping claw 64 , and the buffer layer 8 is detachably connected to the clamping claw 64 .

[0045] Specifically, Figure 4 As shown, a buffer layer 8 is detachably provided on the inner side of the clamping claw 64. For example, the buffer layer 8 may be a flexible rubber gasket or a sponge pad. The buffer layer 8 may be fixed to the clamping claw 64 by gluing or snapping. By providing the buffer layer 8, the damage to the outer surface of fruits and vegetables caused by the clamping claw 64 may be reduced.

[0046] In some embodiments, the spherical fruit and vegetable picking device further includes a root cutting unit 400 , which includes a blade 9 and a driver 10 , wherein an output shaft of the driver 10 is connected to the blade 9 .

[0047] Specifically, Figure 1 and Figure 5 As shown, the root cutting unit 400 also includes a connecting rod 16, the upper end of the connecting rod 16 is connected to the frame 100, and the lower end of the connecting rod 16 is connected to the driver 10. A blade 9 is installed on the output shaft of the driver 10, and when the driver 10 rotates, the blade 9 can be driven to rotate.

[0048] Optionally, the position of the connecting rod 16 on the frame 100 is adjustable. For example, a plurality of mounting holes are provided on the connecting rod 16, and the position of the connecting rod 16 is adjusted by selectively selecting the positions of the mounting holes, or the position of the connecting rod 16 is adjusted by a slider.

[0049] It should be noted that the robotic arm 5 drives the grasping assembly 6 to carry the picked fruits and vegetables toward the root cutting unit 400. When approaching the root cutting unit 400, the robotic arm 5 moves the roots of the fruits and vegetables toward the root cutting unit 400, and the driver 10 rotates to drive the blade 9 to rotate, and the blade 9 is used to cut off the roots of the fruits and vegetables.

[0050] In some embodiments, the spherical fruit and vegetable picking device further includes a collecting box 11 , which is connected to the frame 100 , and has a receiving cavity inside.

[0051] Specifically, Figure 1 and Figure 6 As shown, the upper end of the collection box 11 has an opening, and the bottom of the collection box 11 has a sensor. The weighing sensor 112 can monitor the weight of the fruits and vegetables in the collection box 11. After the fruits and vegetables with roots removed are transferred to the top of the collection box 11 by the mechanical arm 5, the grabbing assembly 6 opens, and the fruits and vegetables fall into the collection box 11 by their own weight. When the weight in the collection box 11 reaches a preset value, the weighing sensor 112 transmits a signal to the processor, and the processor transmits a driving instruction to the controller, and the controller controls the picking device to move to the unloading position. The controller controls the door 111 of the collection box 11 to open, thereby completing the unloading, and after unloading, it moves to the last picking position again.

[0052] Optionally, a tilting frame 113 is provided at the bottom of the collection box 11, and the collection box 11 is installed on the tilting frame 113. One end of the tilting frame 113 is pivotally connected to the frame 100, and a telescopic component is provided at the bottom of the tilting frame 113. The tilting angle of the tilting frame 113 is adjusted by controlling the extension of the telescopic component. When the collection box 11 is unloading, the tilting angle of the tilting frame 113 can be increased, thereby completing the unloading more quickly.

[0053] In some embodiments, a position positioning module 13 is installed on the frame, and the positioning module 13 can locate the position of the picking device in real time. For example, the positioning module 13 can use GPS or Beidou positioning.

[0054] The spherical fruit and vegetable picking method according to the embodiment of the present invention, using the spherical fruit and vegetable picking device according to any of the above embodiments, comprises the following steps: S100: Setting a picking path.

[0055] It should be noted that the picking route is set in advance according to the row spacing and plant spacing of fruits and vegetables, for example, an S-shaped route is used to pick fruits and vegetables.

[0056] S200: Collect images of fruits and vegetables on the picking path, and transmit the processed images to a processor.

[0057] It should be noted that the image collector 7 is used to collect images of fruits and vegetables on the picking path, and the images are sent to the processor for image processing, for example, binarization and denoising are performed on the images.

[0058] S300: Determine whether the diameter of the fruit or vegetable meets a first preset condition, and if so, pick the fruit or vegetable.

[0059] For example, when the first preset condition is greater than or equal to 20 cm, that is, when the diameter of the fruit or vegetable is greater than or equal to 20 cm, it proves that the maturity of the fruit or vegetable has reached the requirement and can be picked. It should be noted that when the first preset condition is reached, the entire picking device will stop moving, providing time for the robotic arm 5 and the grasping assembly 6 to pick the fruit or vegetable.

[0060] It should be noted that the first preset condition can also be adjusted according to actual needs. For example, when the average diameter of fruits and vegetables in a certain year is small, the value of the first preset condition can be lowered. Conversely, when the average diameter of fruits and vegetables in a certain year is large, the value of the first preset condition can be appropriately increased.

[0061] Alternatively, multiple first preset conditions may be set. For example, if the first preset condition is greater than or equal to 20 cm, the diameter of the picked fruits and vegetables is within this range. If the first preset condition is set to greater than or equal to 10 cm and less than 20 cm, the picked fruits and vegetables are within this range. Thus, the diameter is used to perform a preliminary screening of fruits and vegetables, which not only allows for selective picking for quality grading, but also simplifies subsequent screening processes, thereby improving the efficiency of the entire fruit and vegetable picking and processing.

[0062] S400, the picking unit 300 moves the picked fruits and vegetables to the root cutting unit 400 for root cutting.

[0063] Specifically, after the picking unit 300 picks the fruits and vegetables, the robot arm 5 transfers the fruits and vegetables to the bottom of the root cutting unit 400 and uses the blade 9 to cut off the roots of the fruits and vegetables.

[0064] Optionally, the image collector 7 is used to collect image information of fruits and vegetables, the processor analyzes the diameter of the fruits and vegetables, and determines the moving position of the robot arm 5 according to the diameter, thereby ensuring that the root cutting unit 400 can both cut off the roots of fruits and vegetables and reduce or avoid the risk of fruits and vegetables colliding with the root cutting unit 400.

[0065] S500 , the root-cut fruits and vegetables are transported to the collection box 11 .

[0066] Specifically, after the root-cut fruits and vegetables are transferred to the top of the collection box 11 by the robot arm 5 , the gripping assembly 6 releases the fruits and vegetables, and the fruits and vegetables fall into the collection box 11 by their own weight.

[0067] In some embodiments, the method for picking spherical fruits and vegetables further includes determining whether the fruits and vegetables in the collection box 11 meet a second preset condition, and if so, discharging the fruits and vegetables in the collection box 11 .

[0068] Specifically, Figure 7 As shown, a weighing sensor 112 is used to monitor the weight of the material inside the collection box 11. When the weight reaches a second preset condition, it proves that the fruits and vegetables in the collection box 11 have reached a maximum threshold, and the controller controls the wheels 4 to move to the unloading position for unloading.

[0069] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0070] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0071] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0073] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0074] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A spherical fruit and vegetable picking device, characterized in that: include: frame; A traveling unit, wherein the traveling unit comprises a plurality of traveling components, wherein the plurality of traveling components are divided into two traveling groups, wherein the two traveling groups are arranged at intervals in the length direction of the frame, and the traveling components in each traveling group are arranged relatively in the width direction of the frame, and the interval distance of the traveling components in each traveling group in the width direction of the frame is adjustable; A picking unit is connected to the frame. In the length direction of the frame, the picking unit is located between the two groups of traveling groups. The picking unit is used to pick fruits and vegetables on the ground.

2. The spherical fruit and vegetable picking device according to claim 1, characterized in that: The traveling assembly includes a connecting frame, a driving component, a movable frame and wheels, the connecting frame is connected to the frame, the driving component is located at the bottom of the connecting frame, the movable frame is connected to the driving component, the driving component is used to drive the movable frame to move in the width direction of the frame, the wheels are installed at the bottom of the movable frame, and the wheels are rotatable relative to the movable frame.

3. The spherical fruit and vegetable picking device according to claim 2, characterized in that: The driving component comprises a driving screw, the driving screw penetrates the connecting frame and is rotatable relative to the connecting frame, the upper end of the movable frame is sleeved on the driving screw, and the movable frame is movable on the driving screw.

4. The spherical fruit and vegetable picking device according to claim 1, characterized in that: The picking unit includes a mechanical arm and a grabbing assembly, one end of the mechanical arm is connected to the frame, the other end of the mechanical arm is connected to the grabbing assembly, the grabbing assembly includes a driving rod, a driving plate, a connecting rod component and a plurality of clamping claws, the driving rod is connected to the driving plate, one end of the connecting rod component is connected to the driving plate, the other end of the connecting rod component is respectively connected to the plurality of clamping claws, and the driving rod and the driving plate can move closer to or away from the mechanical arm to drive the plurality of clamping claws closer to or away from each other through the connecting rod component.

5. The spherical fruit and vegetable picking device according to claim 1, characterized in that: The picking unit also includes an image collector, which is connected to the driving plate and is located between the plurality of clamping claws.

6. The spherical fruit and vegetable picking device according to claim 1, characterized in that: A buffer layer is provided on the inner side of the clamping claw, and the buffer layer is detachably connected to the clamping claw.

7. The spherical fruit and vegetable picking device according to claim 1, characterized in that: It also includes a root cutting unit, which includes a blade and a driver, and an output shaft of the driver is connected to the blade.

8. The spherical fruit and vegetable picking device according to any one of claims 1 to 7, characterized in that: It also includes a collection box, which is connected to the frame and has a receiving cavity inside.

9. A method for picking spherical fruits and vegetables, characterized in that: The spherical fruit and vegetable picking device according to any one of claims 1 to 8 comprises the following steps: Set the picking path; Collect images of fruits and vegetables on the picking path, and transmit them to the processor after processing; Determining whether the diameter of the fruit and vegetable meets a first preset condition, and if so, picking the fruit and vegetable; The picking unit moves the picked fruits and vegetables to the root cutting unit for root cutting; The root-cut fruits and vegetables are transported to the collection box.

10. The method for picking spherical fruits and vegetables according to claim 9, characterized in that: The method further includes determining whether the fruits and vegetables in the collection box meet a second preset condition, and if so, discharging the fruits and vegetables in the collection box.

Images