Agricultural multifunctional picking vehicle and working method thereof

Abstract

The invention provides an agricultural multifunctional picking vehicle and a working method thereof. The agricultural multifunctional picking vehicle comprises a picking vehicle picking mechanical arm, an electric cabinet, a storage classification cabin, crawler wheels, a picking vehicle body, a picking vehicle split charging module and an automatic obstacle avoidance module. Two sides of the vehicle body are connected with symmetrically distributed crawler wheels, an automatic obstacle avoidance module is arranged at the front end of the vehicle body, and a picking vehicle split charging module is loaded at the upper end of the automatic obstacle avoidance module. An electric control box is arranged in the center of the vehicle body and comprises a microprocessor, a storage battery and a wireless communication module, and all subsystems of the picking vehicle are generally controlled. Mechanical arms are arranged at the rear end of the vehicle body. The crawler wheels are used for achieving movement, instability caused by multiple road conditions such as gullies and muddy farmland ground is avoided, meanwhile, vibration of the vehicle body is effectively relieved, meanwhile, the mechanical arm is high in freedom degree, it can be guaranteed that the robot can adapt to crops of different heights, and the application range of the robot is wider. The device is reasonable in structural design, complete and stable in function, easy to operate and capable of efficiently completing crop picking.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to an agricultural multifunctional picking vehicle and a working method thereof. Background Art

[0002] In the prior art, most agricultural harvesting vehicles have a single function and cannot meet the needs of various operations. For example, traditional harvesting vehicles can only perform simple harvesting or transportation operations. For occasions that require multiple functions such as picking and packaging, multiple machines are often required to cooperate, which not only increases labor costs, but also reduces work efficiency. Nowadays, there are many kinds of crops. Different types of crops often require different workers to pick and sort, which will inevitably cause physical injuries during work. At the same time, because the freshness and maturity of crops are different, it is difficult for humans to accurately judge. Sometimes, in order to pursue efficiency, crops are inevitably bumped during transportation, which increases the loss rate and reduces economic benefits. When existing harvesting vehicles are operated in limited spaces such as greenhouses, they often have problems such as weak adaptability and single functions. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the problems existing in the prior art and to provide an agricultural multifunctional picking vehicle and a working method thereof, which can solve the problems of the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an agricultural multifunctional picking vehicle, comprising a picking vehicle, characterized in that: a picking vehicle chassis is arranged at the bottom of the picking vehicle, a picking vehicle shell is welded on the upper part of the picking vehicle chassis, crawler wheels are symmetrically arranged on both sides of the picking vehicle chassis, and a picking vehicle picking mechanical arm is arranged at the rear end of the shell. The picking mechanical arm of the picking vehicle includes a picking claw, a visual recognition module, a mechanical arm forearm, an elastic driver, a mechanical arm arm, a steering gear, a turntable and a rotating component. The mechanical arm is fixedly connected to the vehicle shell through the turntable. An electric control box is arranged in the middle of the picking vehicle. A storage classification cabin is fixedly connected to the left side just in front of the top of the vehicle shell, and a picking vehicle packaging module is fixedly connected to the right side just in front of the top of the vehicle shell. The lower end of the packaging module is fixedly connected to an automatic packaging module of the picking vehicle. The automatic packaging module consists of a rotating packaging cabin, a mechanical claw, a turntable, a transverse telescopic arm, a longitudinal telescopic arm, a rotating component and a motor. The packaging module is connected to the vehicle shell through a turntable. A picking vehicle classification module is arranged on the upper end of the packaging module. The classification module consists of a classification cabin, a spring latch, a transverse telescopic arm, a telescopic nail, a gravity detection power plate, a motor and a fixed frame. The classification module is fixedly connected to the longitudinal telescopic arm through the transverse telescopic arm, and an automatic obstacle avoidance module is arranged at the front end of the vehicle shell.

[0005] As a further solution of the present invention, an agricultural multifunctional picking vehicle according to claim 1 is characterized in that: the mechanical arm at the lower end of the mechanical arm is connected to the servo key, the rotating part of the servo is fixedly connected to the upper surface of the turntable, the control mechanical arm rotates radially along the servo, the elastic driver is connected to the mechanical arm key, the mechanical arm fork is connected to the elastic driver key, the mechanical arm fork is embedded with a visual recognition module, the picking claw is rotatably connected to the rotating component, and the rotating component is rotatably connected to the mechanical arm fork.

[0006] As a further solution of the present invention, the classification cabin is bolted to the fixing frame, the telescopic nail is vertically fixed inside the fixing frame, the power plate is riveted to the classification cabin, the classification cabin is fixedly connected to the motor, the spring latch is slidably connected to the motor, and the transverse telescopic arm is fixedly connected to the classification cabin.

[0007] As a further solution of the present invention, an agricultural multifunctional picking vehicle according to claim 1 is characterized in that: the longitudinal telescopic arm at the rear end of the picking vehicle packaging module is fixedly connected to the chassis, the transverse telescopic arm at the rear end of the automatic packaging module is fixedly connected to the rotating component, the mechanical claw at the front end of the automatic packaging module is fixedly linked to the rotating component, and the rotating packaging cabin at the front end of the automatic packaging module is connected to the servo key cover.

[0008] As a further solution of the present invention, the track wheel consists of a track, a guide wheel, a support wheel, a driving wheel and a frame, and the track wheel is bolted to the picking vehicle through the frame.

[0009] As a further solution of the present invention, the guide wheel at the front end of the track wheel is connected to the frame pin, the support wheel above the track wheel is rigidly connected to the frame, and the drive wheel below the track wheel is connected to the frame tenon groove.

[0010] As a further solution of the present invention, the crawler track is composed of a plurality of crawler shoes, the plurality of crawler shoes are connected by rivets, and the crawler track is rigidly connected to the frame.

[0011] As a further solution of the present invention, an automatic obstacle avoidance module is installed at the front end of the vehicle shell, a battery is fixedly installed in the electric control box, the battery is connected to the voltage conversion circuit, a microcontroller is fixedly installed in the electric control box, and the microcontroller is connected to the picking robot arm of the picking vehicle, the visual recognition module, the track wheels, the picking vehicle packaging module, the automatic obstacle avoidance module, the voltage conversion circuit, and the wireless communication module.

[0012] As a further scheme of the present invention, a working method of an agricultural multifunctional picking vehicle comprises the following steps: Step 1, when working, the visual recognition module first identifies the area of ​​crops to be picked and determines the position of the crops; Step 2, then, the visual recognition module feeds back the information to the microcontroller, and the microcontroller drives the track wheels and the picking mechanical arm of the picking vehicle to make the picking claws reach the position of the picked crops; Step 3, the microcontroller controls the picking claws in the picking mechanical arm of the picking vehicle to open to a suitable size to grab the crops, and then runs the rotating assembly to unscrew the crops; Step 4, the picked crops fall into the classification cabin, and when the set weight is reached, the bottom of the gravity detection power plate at the lower end of the classification cabin opens, and the crops fall into the rotating packaging cabin for packaging; Step 5, finally, when packaging is completed, the turntable rotates to put the packaged crops into the storage classification cabin.

[0013] Compared with the prior art, the effective effects of the present invention are:

[0014] 1. The agricultural multifunctional picking vehicle can accurately distinguish the maturity of fruits through the setting of mechanical arms and visual recognition modules, and can operate continuously around the clock, solving the problem of manual difficulty in distinguishing the maturity of fruits and low efficiency; at the same time, the present invention can be applied to a variety of working environments, which improves the scope of application of the device. Its advantages are comprehensive functions, including a variety of sensors and mechanical arm systems, which can achieve efficient and accurate logistics operations while ensuring quality.

[0015] 2. The agricultural multifunctional picking vehicle can classify and pack crops through the setting of the picking vehicle packing module; the classification and packing integration is realized through the classification of the classification module and the full-automatic packing and sealing of the packing module; finally, the crops are placed in the corresponding storage classification compartments through the rotation of the turntable; the manual operation part is reduced as much as possible, the workload of manual picking and packing is effectively reduced, and full-automatic operation is realized.

[0016] 3. The multifunctional agricultural picking vehicle, through the setting of the longitudinal telescopic arm, enables the frame of the picking vehicle packaging module to move up and down. The method of driving the packaging module and combining the crop data of different heights of the mechanical arm is adopted to realize automatic lifting and lowering. It can reduce the height of the crop and the classification compartment after the mechanical claw grabs the crop, reduce the possible bumps of the crop, and thus reduce the crop loss rate; at the same time, through the cooperation of the gravity detection plate and the packaging module, the packaged crops are placed in the storage classification compartment, so that the center of gravity of the trolley is concentrated in the center of the trolley, avoiding the trolley tipping caused by the forward tilt of the center of gravity. This gravity sensing device and adaptive adjustment of the center of gravity greatly reduce the failure rate of the trolley and ensure the efficient and stable operation of the trolley.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention.

[0019] Figure 2 It is a side view of the present invention.

[0020] Figure 3 It is a top view of the present invention.

[0021] Figure 4 Schematic diagram of the robotic arm of the present invention.

[0022] Figure 5 This is a diagram of the automatic classification and automatic packaging device of the present invention.

[0023] Figure 6 It is a schematic diagram of the track wheel of the present invention.

[0024] Figure 7 It is a circuit principle block diagram of the present invention.

[0025] Figure numerals: 1. Picking robot arm of picking vehicle; 1-1. Picking claw; 1-2. Visual recognition module; 1-3. Robot arm forearm; 1-4. Elastic drive; 1-5. Robot arm arm; 1-6. Servo; 1-7. Turntable, 1-8. Rotating assembly; 2. Sorting module of picking vehicle; 2-1. Sorting cabin; 2-2. Spring latch; 2-3. Transverse telescopic arm; 2-4. Telescopic nail; 2-5. Gravity detection power board; 2-6. Motor; 2-7. Fixed frame; 3. Automatic packaging module of picking vehicle; 3-1. Rotating packaging cabin; 3-2. Robot claw; 3-3. Servo; 3-4. Transverse telescopic arm; 3-5. Longitudinal telescopic arm; 3-6. Rotating assembly; 4. Electric control box; 5. Storage classification cabin; 6. Track wheel; 6-1. Track; 6-2. Guide wheel; 6-3. Support wheel; 6-4, driving wheel; 6-5, frame; 7, picking vehicle; 8, picking vehicle assembly module; 9, automatic obstacle avoidance module; 10, picking vehicle shell; 11, picking vehicle chassis; 12, track plate; 13, microprocessor; 14, voltage conversion circuit; 15, battery; 16, wireless communication module. DETAILED DESCRIPTION

[0026] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention. Embodiment 1

[0027] Please refer to Figures 1-6. The present invention provides a technical solution: a multifunctional agricultural picking vehicle, a picking vehicle shell 10 is welded on the upper part of the picking vehicle disc 11 of the picking vehicle 7, and the picking vehicle shell 10 can facilitate the assembly of the overall components of the picking vehicle 7. The rear end of the shell 10 is provided with a picking vehicle picking mechanical arm 1, and the mechanical arm 1 at the rear end can cooperate with the front end packaging module 8 to perform picking work. The mechanical arm 1 is fixedly connected to the shell 10 through a turntable 1-7. The lower end of the picking mechanical arm 1 of the picking vehicle is a steering gear 1-6, and the rotating part of the steering gear 1-6 is connected to the turntable 1-7. The mechanical arm 1 is controlled to move radially along the turntable 1-7. The overall rotation of the turntable 1-7 at the lower end of the steering gear 1-6 enables the mechanical arm 1 to find a suitable picking angle.

[0028] Furthermore, the robot arm 1-5 at the lower end of the robot arm 1 is key-connected to the steering gear 1-6, so that the robot arm 1-5 can rotate radially. The elastic driver 1-4 is key-connected to the robot arm 1-5 to enhance the overall pressure resistance of the robot arm 1. The robot arm 1-3 is key-connected to the elastic driver 1-4. The robot arm 1-3 is the part with the largest degree of freedom in the robot arm 1, so that the robot arm 1 can find the crop picking angle as a whole. The robot arm 1-3 is embedded with a visual recognition module 1-2. The picking claw 1-1 is rotationally connected to the robot arm 1-3. Through the visual recognition of the visual recognition module 1-2, the picking claw 1-1, the visual recognition module 1-2, the robot arm 1-3, the elastic driver 1-4, the robot arm 1-5, the steering gear 1-6, and the turntable 1-7 are linked to complete the positioning of the crops. The visual recognition module 1-2 controls the mechanical claw 1-1 to open to a suitable width by analyzing the size of the crop. After opening to a suitable width, the mechanical claw 1-1 grabs the crop and unscrews the crop by rotating the rotating component 1-8. The overall coordination of the visual recognition module 1-2 and the mechanical arm 1 ensures that the crop can be picked smoothly. Through the recognition of the visual recognition module 1-2, the mechanical arm 1 cooperates with the picking vehicle packaging module 8. When the relative height of the picking claw 1-1 and the classification cabin 2-1 reaches a suitable value, the picking claw 1-1 is released to allow the crop to fall into the classification cabin 2-1. The crops can be classified according to different needs.

[0029] Furthermore, a picking vehicle packing module 8 is fixedly connected to the right side in front of the picking vehicle shell 10, and a picking vehicle automatic packing module 3 is fixedly connected to the lower end of the packing module 8. The packing module 8 is divided into two parts: an upper picking vehicle classification module 2 and a lower picking vehicle automatic packing module 3. The upper end is provided with a picking vehicle classification module 2, and the classification module 2 includes a classification cabin 2-1, a spring latch 2-2, a transverse telescopic arm 2-3, a telescopic nail 2-4, a gravity detection power plate 2-5, a motor 2-6, and a fixed frame 2-7. The classification module 2 is fixedly connected to the longitudinal telescopic arm 3-5 through the transverse telescopic arm 2-3, and the packing module 8 is connected to the shell 10 through a turntable 3-3. The lower end of the packing module 8 is fixedly connected to the picking vehicle automatic packing module 3, and the packing module is connected to the shell 10 through a turntable 3-3. Each area of ​​the rotating packing cabin 3-1 contains a corresponding packing ring, and the packing ring is at the upper picking vehicle classification module 2. After the subpackaging is completed, the package is sealed by the rotary packaging chamber 3-1.

[0030] The upper end of the packing module 8 is provided with a picking vehicle sorting module 2, which is composed of a sorting cabin 2-1, a spring latch 2-2, a transverse telescopic arm 2-3, a telescopic nail 2-4, a gravity detection power plate 2-5, and a motor 2-6. The telescopic nail 2-4 is vertically fixed in the fixing frame 2-7, and the prepared packing bags are pre-fixed on the fixing frame 2-7 by the telescopic nail 2-4 and the spring latch 2-2. The power plate 2-5 is connected to the sorting cabin 2-1 by rivets, so as to facilitate the detection of the total weight of the crop at any time. The sorting cabin 2-1 is fixedly connected to the motor 2-6, and the sorting cabin 2-1 and the motor 2-6 work closely together to complete the packing work. The spring latch 2-2 is slidably connected to the motor 2-6, so that the spring latch 2-2 can be moved laterally through the motor 2-6. The transverse telescopic arm 2-3 is fixedly connected to the sorting cabin 2-1, and the movement of the transverse telescopic arm 2-3 increases the overall movement amplitude of the packing module 5. When the gravity detection power board 2-5 detects that the crops have fallen into the cabin, the gravity detection power board 2-5 starts to weigh according to the specified weight. When the specified weight is reached, the lower end of the power board 2-5 opens, and the crops fall into the pre-set packing bag. Then the motor 3-7 operates, and the rotary packing cabin 3-1 opens to a suitable width, and then closes and tightens the bag opening, and seals the bag opening with a packing ring. After the closure is completed, the turntable 3-3 rotates to move the packaged crops to the top of the storage and classification cabin 5, and the telescopic nail 2-4 and the spring latch 2-2 contract, so that the packaged crops automatically fall into the corresponding area of ​​the storage and classification cabin 5. Embodiment 2

[0031] On the basis of the first embodiment, the picking vehicle chassis 11 is symmetrically provided with track wheels 6 on both sides, and the track wheels 6 are bolted to the picking vehicle 7 through the frame 6-5. The guide wheel 6-2 at the front end of the track wheel 6 is pin-connected to the frame 6-5, the support wheel 6-3 above the track wheel 6 is rigidly connected to the frame 6-5, and the driving wheel 6-4 below the track wheel 8 is connected to the frame 6-5 by a mortise and tenon connection. The track 6-1 includes a plurality of track shoes 12, and the track shoes 12 are connected by rivets, and the track 6-1 is rigidly connected to the frame 6-5. The front end of the vehicle shell 10 is provided with an automatic obstacle avoidance module 9. During the travel, the automatic obstacle avoidance module 9 determines the distance between the picking vehicle 7 and the obstacle through infrared scanning. When the distance is less than or equal to 5 meters, the automatic obstacle avoidance module 9 feeds back the information to the electric control box 4. The electric control box 4 processes the information through the microcontroller 13 to deflect the guide wheel 6-2 and slow down the rotation of the driving wheel 6-4 to turn. During the travel, the visual recognition module 1-2 detects the distance between the mechanical arm and the obstacle in front in real time through infrared scanning. When the distance is less than or equal to 5 meters, the visual recognition module feeds back the information to the electric control box 4. The electric control box 4 processes the information through the microcontroller 13 and feeds back the information to the mechanical arm 1. The mechanical arm 1 controls the mechanical arm forearm 1-3, the elastic drive 1-4, the mechanical arm arm 1-5, the steering gear 1-6, the turntable 1-7, and the rotating assembly 1-8 to reduce the height of the mechanical arm. This automatic obstacle avoidance method ensures that the picking vehicle will not be damaged by collision. Through the operation system dominated by the electric control box 4 and operated by other modules, the original cumbersome and complicated usage mode is optimized, and the autonomous operation and self-decision of the agricultural multifunctional harvesting vehicle are realized, thereby reducing the labor intensity of users and realizing intelligent and efficient crop picking.

[0032] When used in different agricultural machinery operation areas, the user can adjust the agricultural multifunctional picking vehicle by adjusting the working environment and his own needs. The picking vehicle 7 moves along the preset route. The front end of the picking mechanical arm 1 of the picking vehicle is provided with a visual recognition module 1-2. The visual recognition module 1-2 automatically recognizes the position of the crop and the appropriate picking angle, and feeds the information back to the electric control box 4. The electric control box 4 processes the information through the microprocessor 13 and provides it to the mechanical arm 1. The mechanical arm 1 controls its own components to adjust to the appropriate angle for picking. The turntable 3-3 moves the picking vehicle packaging module 8 to the bottom of the mechanical claw 1-1. After the packaging module 8 moves to the bottom of the crop, the mechanical claw 1-1 is released, so that the crop is placed in the classification cabin 2-1. During this period, the cooperation of the visual recognition module 1-2 reduces the possibility of crop loss. When the crops fall in, the gravity sensing power board 2-5 starts to calculate the weight. When the predetermined weight is reached, the power board 2-5 opens and puts the crops into the pre-set packing bags. This setting is convenient for users to pack and pack the crops of the required weight to ensure the uniform weight of the crops in different bags. After the crops fall in, the motor 3-7 operates, the rotary packing chamber 3-1 opens to the appropriate width, then closes and tightens the bag opening, and seals the bag opening with a packing ring. After the closure is completed, the turntable 3-3 rotates to move the packaged crops to the top of the storage and classification chamber 5, and the telescopic nail 2-4 and the spring latch 2-2 contract, so that the packaged crops automatically fall into the corresponding area of ​​the storage and classification chamber 5. Then the next work cycle is carried out along the preset route. This set of processes realizes fully automated picking and sorting, improves the functionality of the trolley, and further improves its versatility.

[0033] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A multifunctional agricultural picking vehicle, comprising a picking vehicle (7), characterized in that: The bottom of the picking vehicle (7) is provided with a picking vehicle chassis (11), the upper part of the picking vehicle chassis (11) is welded with a picking vehicle shell (10), crawler wheels (6) are symmetrically arranged on both sides of the picking vehicle chassis (11), and a picking vehicle picking mechanical arm (1) is arranged at the rear end of the shell (10), and the picking vehicle picking mechanical arm (1) comprises a picking claw (1-1), a visual recognition module (1-2), a mechanical arm forearm (1-3), and an elastic driver. (1-4), a mechanical arm (1-5), a steering gear (1-6), a turntable (1-7) and a rotating assembly (1-8), wherein the mechanical arm (1) is fixedly connected to the vehicle shell (10) via the turntable (1-7), an electric control box (4) is arranged in the middle of the picking vehicle (7), a storage classification cabin (5) is fixedly connected to the left side just in front of the top of the vehicle shell (10), and a picking vehicle packaging module (8) is fixedly connected to the right side just in front of the top of the vehicle shell (10) The lower end of the packaging module (8) is fixedly connected to a picking vehicle automatic packaging module (3), the automatic packaging module (3) is composed of a rotating packaging cabin (3-1), a mechanical claw (3-2), a turntable (3-3), a transverse telescopic arm (3-4), a longitudinal telescopic arm (3-5), a rotating assembly (3-6) and a motor (3-7), the packaging module is connected to the vehicle shell (10) via the turntable (3-3), the upper end of the packaging module (8) is provided with a picking vehicle classification module (2), the classification module (2) is composed of a classification cabin (2-1), a spring latch (2-2), a transverse telescopic arm (2-3), a telescopic nail (2-4), a gravity detection power plate (2-5), a motor (2-6) and a fixing frame (2-7), the classification module (2) is fixedly connected to the longitudinal telescopic arm (3-5) via the transverse telescopic arm (2-3), and the front end of the vehicle shell (10) is provided with an automatic obstacle avoidance module (9).

2. The agricultural multifunctional picking vehicle according to claim 1, characterized in that: The mechanical arm (1-5) at the lower end of the mechanical arm (1) is key-connected to a steering gear (1-6); the rotating part of the steering gear (1-6) is fixedly connected to the upper surface of a turntable (1-7); the control mechanical arm (1) rotates radially along the steering gear (1-6); the elastic driver (1-4) is key-connected to the mechanical arm (1-5); the mechanical arm fork (1-3) is key-connected to the elastic driver (1-4); the mechanical arm fork (1-3) is embedded with a visual recognition module (1-2); the picking claw (1-1) is rotationally connected to a rotating component (1-8); and the rotating component (1-8) is rotationally connected to the mechanical arm fork (1-3).

3. The agricultural multifunctional picking vehicle according to claim 1, characterized in that: The classification cabin (2-1) is bolted to the fixing frame (2-7), the telescopic nail (2-4) is vertically fixed inside the fixing frame (2-7), the power plate (2-5) is riveted to the classification cabin (2-1), the classification cabin (2-1) is fixedly connected to the motor (2-6), the spring latch (2-2) is slidably connected to the motor (2-6), and the transverse telescopic arm (2-3) is fixedly connected to the classification cabin (2-1).

4. The agricultural multifunctional picking vehicle according to claim 1, characterized in that: The longitudinal telescopic arm (3-5) at the rear end of the picking vehicle packaging module (8) is fixedly connected to the chassis (3-3), the transverse telescopic arm (3-4) at the rear end of the automatic packaging module (3) is fixedly connected to the rotating assembly (3-6), the mechanical claw (3-2) at the front end of the automatic packaging module (3) is fixedly linked to the rotating assembly (3-6), and the rotating packaging cabin (3-1) at the front end of the automatic packaging module (3) is connected to the key sleeve of the steering gear (3-3).

5. The agricultural multifunctional picking vehicle according to claim 1, characterized in that: The crawler wheel (6) comprises a crawler belt (6-1), a guide wheel (6-2), a support wheel (6-3), a driving wheel (6-4) and a frame (6-5); the crawler wheel (6) is bolted to the picking vehicle (7) via the frame (6-5).

6. The agricultural multifunctional picking vehicle according to claim 5, characterized in that: The guide wheel (6-2) at the front end of the track wheel (6) is pin-connected to the frame (6-5), the support wheel (6-3) above the track wheel (6) is rigidly connected to the frame (6-5), and the drive wheel (6-4) below the track wheel (8) is connected to the frame (6-5) by a mortise and tenon connection.

7. The agricultural multifunctional picking vehicle according to claim 5, characterized in that: The crawler track (6-1) is composed of a plurality of crawler plates (12), the plurality of crawler plates (12) are connected to each other via rivets, and the crawler track (6-1) is rigidly connected to the frame (6-5).

8. The agricultural multifunctional picking vehicle according to claim 1, characterized in that: An automatic obstacle avoidance module (9) is installed at the front end of the vehicle shell (10); a storage battery (15) is fixedly installed inside the electric control box (4); the storage battery (15) is connected to a voltage conversion circuit (14); a microcontroller (13) is fixedly installed inside the electric control box (4); the microcontroller (13) is connected to a picking vehicle picking mechanical arm (1), a visual recognition module (1-2), a crawler wheel (6), a picking vehicle packaging module (8), an automatic obstacle avoidance module (9), a voltage conversion circuit (14) and a wireless communication module (16).

9. A working method based on the agricultural multifunctional harvesting vehicle according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: step 1: during operation, the visual recognition module (1-2) first identifies the area of ​​crops to be picked and determines the location of the crops; step 2: the visual recognition module (1-2) then feeds back the information to the microcontroller (13), and the microcontroller (13) drives the crawler wheel (6) and the picking mechanical arm (1) of the picking vehicle so that the picking claw (1-1) reaches the location of the crops to be picked; step 3: the microcontroller (13) controls the picking mechanical arm (1) of the picking vehicle to The picking claws (1-1) are opened to a suitable size to grab the crops, and then the rotating assembly (1-8) is operated to screw off the crops; step 4, the picked crops fall into the classification compartment (2-1), and when the set weight is reached, the bottom of the gravity detection power plate (2-5) at the lower end of the classification compartment (2-1) is opened, and the crops fall into the rotating packaging compartment (3-1) for packaging; step 5, finally, when packaging is completed, the turntable (3-3) rotates to place the packaged crops into the storage classification compartment (5).

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