Large fruit automatic picking machine and automatic picking method

Abstract

The invention provides a large fruit automatic picking machine and an automatic picking method. The picking machine comprises a vehicle body capable of walking. The invention discloses a fruit picking vehicle which comprises a vehicle body, a lifting mechanism arranged on the vehicle body, a cruise system capable of controlling the vehicle body to cruise in a park, an identification system used for identifying environment and fruit information, a multi-axis manipulator arranged on the lifting mechanism, an end effector arranged on the multi-axis manipulator, and a conveying and collecting mechanism used for transporting and collecting fruits. The robot can automatically cruise in a park, then identifies information of fruits, holds and shears the fruits through an end effector, and then conveys and collects the fruits, so that full-automatic picking is realized; wherein the end effector is matched with the multi-axis manipulator, and the clamping axis of the clamping assembly of the end gripper is intersected with the shearing plane of the shearing assembly, so that the fruit picking device is suitable for picking various large fruits, and particularly, the fruit growing between leaves and branches and inclining upwards can be sheared and picked faster and more conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit picking machines, and in particular to a large-scale automatic fruit picking machine and an automatic picking method. Background Art

[0002] Currently, existing harvesting machines are mostly designed for small fruits, primarily shearing and suction types. There is a lack of harvesting machines for large fruits, particularly those harvesting from high altitudes. For example, large oil palm, durian, and coconut plantations still rely primarily on manual labor for harvesting these fruits. During the harvest season, there is a significant labor shortage, resulting in high costs, low efficiency, and a high risk of operation. Furthermore, manual harvesting from high altitudes can easily injure people with falling fruits, and the fruit is prone to damage. Summary of the Invention

[0003] In view of this, the object of the present invention is to provide a large-scale automatic fruit picking machine and an automatic picking method to solve the above problems.

[0004] The present invention adopts the following scheme: The present application provides a large-scale automatic fruit picking machine, comprising a movable vehicle body, a lifting mechanism disposed on the vehicle body, a cruise system disposed on the vehicle body capable of controlling the vehicle body to cruise within a park, an identification system for identifying environmental and fruit information, a multi-axis manipulator disposed on the lifting mechanism, an end effector disposed on the multi-axis manipulator, and a transport and collection mechanism for transporting and collecting fruit; In which, the end effector includes a clamping assembly and a shearing assembly arranged on the base; the clamping axis of the clamping assembly is arranged to intersect with the shear plane of the shearing assembly, and the intersection angle is less than 90 degrees; the base can be rotatably set on the multi-axis manipulator; the clamping assembly includes a first drive, a bracket connected to the first drive, and one end can be rotatably connected to the base and two clamping arms that can be linked with the bracket; when the first drive drives the bracket to retract, the two clamping arms approach each other toward the clamping axis to clamp the fruit; when the first drive drives the bracket to extend, the two clamping arms move away from each other; the shearing assembly includes a second drive, and two shearing pieces; the second drive can drive the two shearing pieces to approach or move away from each other to achieve a shearing action.

[0005] Furthermore, the clamping axis of the clamping assembly and the shearing plane of the shearing assembly are arranged to intersect at 45 degrees.

[0006] Furthermore, the base is L-shaped, one outer side of which is rotatably connected to the multi-axis manipulator, and the other outer side is provided with the shearing component; the clamping component is provided on the inner side.

[0007] Furthermore, the clamping assembly includes two first drives arranged in parallel, and two brackets respectively arranged and connected to the first drives; and connecting rods are respectively provided between the two side seats of the two brackets; the clamping arm includes a first support arm, a second support arm and a connecting arm, one end of the first support arm can be rotatably connected to the base, and the two ends of the connecting arm can be rotatably connected to the other end of the first support arm and the connecting rod respectively; one end of the second support arm is connected to the other end of the first support arm.

[0008] Furthermore, the shearing assembly includes a driving member having a first rack on both sides connected to the second drive, a gear arranged on both sides of the driving member and connected to the first rack for transmission, two second racks respectively connected to the two gears for transmission, two brackets respectively connected to the second racks, and two shearing members respectively connected to the brackets.

[0009] Furthermore, the bracket is provided with a silicone friction sheet capable of generating adaptive deformation; and the shearing piece is provided with a pressure sensor.

[0010] Furthermore, the vehicle body uses crawler wheels for walking; the transmission and collection mechanism includes a storage bin and a conveyor belt; a buffer block is provided in the storage bin and is equipped with a weight sensor; the conveyor belt is used to transport the fruits picked at the end to the storage bin; the conveyor belt is provided with partitions at intervals, and the partitions are provided with anti-slip textures.

[0011] Furthermore, the recognition system is arranged on the multi-axis robotic arm at the end of the multi-axis robotic arm.

[0012] Based on the automatic picking method of the large-scale automatic fruit picking machine, the large-scale automatic fruit picking machine is provided with a controller and a memory, and the controller is adapted to execute a computer program in the memory to control the large-scale automatic fruit picking machine to perform the following steps: Use improved A algorithm or fast exploration random tree algorithm to generate initial path; According to the recognition system, a SLAM map is constructed in real time; According to the SLAM map, the initial path is dynamically adjusted using the D*Lite algorithm; Optimize path selection strategies through historical operation data; According to the path, the cruise system drives the vehicle to a preset position; wherein the preset position is a position where there are fruit trees; Identify fruit information including location, shape, size and maturity through the identification system; According to the position of the fruit, the lifting mechanism works, the multi-axis manipulator moves the end effector to the corresponding position, controls the clamping assembly to clamp the fruit, and then the shearing assembly cuts off the fruit stalk; The picked fruits are placed on the transmission and collection mechanism for transmission and collection.

[0013] Furthermore, the recognition system is a laser radar and a hyperspectral camera.

[0014] By adopting the above technical solution, the present invention can achieve the following technical effects: The present invention provides a large-scale automatic fruit picking machine, which can cruise autonomously in the park, then identify the information of the fruit, hold and cut the fruit through the end effector, and then transmit and collect the fruit, thereby realizing fully automatic picking; wherein the end effector cooperates with the multi-axis manipulator, and the clamping axis of the clamping assembly of the end clamper intersects with the shearing plane of the shearing assembly, which is suitable for picking various large fruits, especially for fruits growing between leaves and branches and tilted upward, the end effector can cut and pick them faster and more conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a structural diagram of a large-scale automatic fruit picking machine according to an embodiment of the present invention; Figure 2 This is a left view of an end effector of a large-scale automatic fruit picking machine according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the end effector of a large-scale automatic fruit picking machine according to an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the three-dimensional structure of the end effector of a large-scale automatic fruit picking machine according to an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the bottom structure of an end effector of a large-scale automatic fruit picking machine according to an embodiment of the present invention; Figure 6 This is a flow chart of an automatic picking method for a large-scale automatic fruit picking machine according to an embodiment of the present invention; Icons: vehicle body 1, lifting mechanism 2, multi-axis manipulator 3, end effector 4, base 5, first drive 6, bracket 7, multi-axis manipulator arm 8, connecting rod 9, clamping arm 10, first support arm 11, second support arm 12, connecting arm 13, second drive 14, first rack 15, driving member 16, gear 17, second rack 18, bracket 19, silicone friction plate 20, transmission and collection mechanism 21, storage bin 22, conveyor belt 23, clamping part 24. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] Example Combine Figures 1 to 5 As shown, this embodiment provides a large-scale automatic fruit picking machine, comprising a movable body 1, a lifting mechanism 2 provided on the body 1, the body 1 being provided with a cruise system capable of controlling the body 1 to cruise within a garden, an identification system for identifying the environment and fruit information, a multi-axis manipulator 3 provided on the lifting mechanism 2, an end effector 4 provided on the multi-axis manipulator 3, and a transport and collection mechanism 21 for transporting and collecting fruit; Among them, the end effector 4 includes a clamping assembly and a shearing assembly arranged on the base 5; the clamping axis of the clamping assembly is arranged to intersect with the shearing plane of the shearing assembly, and the intersection angle is less than 90 degrees; the base 5 can be rotatably set on the multi-axis manipulator 3; the clamping assembly includes a first drive 6, a bracket 7 connected to the first drive 6, and two clamping arms 10 that can be rotatably connected to the base 5 and can be linked with the bracket 7 at one end; when the first drive 6 drives the bracket 7 to retract, the two clamping arms 10 approach each other toward the clamping axis to clamp the fruit; when the first drive 6 drives the bracket 7 to extend, the two clamping arms 10 move away from each other; the shearing assembly includes a second drive 14, and two shearing pieces; the second drive 14 can drive the two shearing pieces to approach or move away from each other to achieve a shearing action.

[0019] This large-scale automatic fruit picking machine can cruise autonomously in the park, then identify the information of the fruit, hold and cut the fruit through the end effector 4, and then transport and collect the fruit, thereby realizing fully automatic picking; wherein the end effector 4 cooperates with the multi-axis manipulator 3, and the clamping axis of the clamping component of the end clamp intersects with the shearing plane of the shearing component, which is suitable for picking various large fruits, especially for fruits growing between leaves and branches and tilted upward, the end effector 4 can cut and pick them faster and more conveniently.

[0020] Specifically, in this embodiment, the large-scale automatic fruit picking machine includes a movable body 1, which utilizes crawler wheels for movement and is controlled by a cruise system to autonomously cruise within the orchard. It further includes an identification system disposed on the body 1 for identifying environmental and fruit information. In this embodiment, the identification system is disposed on a multi-axis robotic arm 8 at the end of the multi-axis manipulator 3, enabling the identification system to operate in multiple dimensions and achieve a wider range of identification. It primarily includes a laser radar (LiDAR) and a hyperspectral camera. The LiDAR is used to scan the orchard environment, generate a three-dimensional terrain model, and detect terrain changes (such as ditches and hillocks) and the location of obstacles (such as tree roots) in real time, enabling the picking vehicle to autonomously avoid obstacles during cruising. The hyperspectral camera is used to identify fruit information, primarily including its location, shape, size, and maturity, to facilitate subsequent automatic cutting and harvesting. The vehicle body 1 is also provided with a lifting mechanism 2, on which the multi-axis manipulator 3 is mounted, and on which the end effector 4 is mounted, as well as a transport and collection mechanism 21 provided on the vehicle body 1 for transporting and collecting the fruit. Specifically, the lifting mechanism 2 can be raised and lowered vertically so that the multi-axis manipulator 3 can approach the ripe fruit; and the multi-axis manipulator 3 can adjust the angle of the end effector 4 relative to the fruit in multiple dimensions, so that the end effector 4 can better grasp and shear the fruit.

[0021] Specifically, in this embodiment, Figures 2 to 5As shown, the clamping axis of the clamping assembly and the shearing plane of the shearing assembly are arranged to intersect at 45 degrees. The setting of this angle cooperates with the multi-dimensional adjustment of the multi-axis manipulator 3, which can adapt to the picking of fruits in various positions, especially for fruits that grow between leaves and branches and are tilted upward. For example, oil palm fruits grow between leaves and branches, and they grow tilted upward; the clamping axis of the clamping assembly of the end effector 4 is arranged to intersect with the shearing plane of the shearing assembly, so that after the end effector 4 approaches the oil palm fruit, the clamping assembly and the shearing assembly are in relative positions with the fruit part and the fruit stalk of the oil palm fruit, thereby better achieving the clamping of the fruit part and the shearing of the fruit stalk.

[0022] Specifically, the base 5 is L-shaped, with one outer side rotatably connected to the multi-axis manipulator, and the other outer side being provided with the shearing assembly; the clamping assembly is provided on the inner side. In this embodiment, the clamping assembly includes two first drives 6 arranged in parallel, and two brackets 7 respectively connected to the first drives 6; and connecting rods 9 are respectively provided between the two side seats of the two brackets 7; the clamping arm 10 includes a first support arm 11, a second support arm 12, and a connecting arm 13. One end of the first support arm 11 is rotatably connected to the base 5, and the two ends of the connecting arm 13 are respectively rotatably connected to the other end of the first support arm 11 and the connecting rod 9; one end of the second support arm 12 is connected to the other end of the first support arm 11. The second arm 12 is also provided with a clamping portion 24, which has a larger outer surface for clamping contact with the surface of the fruit to clamp the fruit more stably. Of course, at least the surface of the clamping portion in contact with the fruit can be set as a soft rubber part with a certain strength to better fit the surface of the fruit, and at the same time it can also play a role in buffering and shock absorption to protect the fruit. Its initial state is that the support seat 7 is in an extended state driven by the first drive 6. At this time, the two clamping arms 10 are pushed away from each other to form an open state under the push of the connecting rod 9. When approaching the fruit, the first drive 6 drives the support seat 7 to extend, and drives the two clamping arms 10 to move closer to each other to clamp the fruit. It should be noted that the support seat 7 and the two clamping arms 10 are arranged in a linkage manner, and the fruit is clamped by the support seat 7 and the two clamping arms 10. After the fruit is held tightly and the fruit stalk is cut, when the fruit is to be placed on the conveying mechanism, the first drive 6 drives the bracket 7 to extend, that is, to push the fruit out and the two clamping arms 10 slowly open; during this process, the fruit is always held tightly by the bracket 7 and the clamping arms 10 until the two clamping arms 10 are opened to a degree sufficient to allow the fruit to be separated, thereby avoiding the disadvantage of the prior art that the fruit falls and is damaged when the clamping arms 10 are slightly opened.

[0023] Furthermore, in this embodiment, the upper end surface of the bracket 7 is provided with a plurality of support portions with upper arc contact surfaces arranged in parallel and at intervals, which can better adapt to the outer surface of the fruit and also achieve an anti-slip effect.

[0024] In this embodiment, the shearing assembly includes a drive member 16 connected to the second drive 14 and having first racks 15 on either side, a gear 17 disposed on either side of the drive member 16 and drivingly connected to the first racks 15, two second racks 18 drivingly connected to the two gears 17, two brackets 19 connected to the second racks 18, and two shearing elements connected to the brackets 19. During shearing, the second drive 14 moves the drive member 16, and the first racks 15 on either side of the drive member 16 rotate the two gears 17. The gears 17 then move the two second racks 18, which in turn move the two brackets 19 toward or away from each other, causing the shearing elements disposed on the brackets 19 to move toward or away from each other, thereby achieving the shearing operation. Furthermore, in this embodiment, the shearing elements are curved blades to quickly shear the fruit stems. The multi-axis manipulator 3 is also equipped with an inertial measurement unit to monitor the vibration of the manipulator in real time. When the amplitude exceeds 0.5 mm, the pneumatic damper actively reduces the vibration with a damping coefficient of 150 N·s / m to ensure that the cutting path is accurate and stable.

[0025] In this embodiment, the first drive 6 and the second drive 14 can be pneumatic cylinders. Of course, for fruits with heavy picking weight and thick stems, the first drive 6 and the second drive 14 can also be hydraulic cylinders to ensure that the clamping mechanism has sufficient holding force to hold the fruit tightly and prevent the fruit from slipping. It also ensures that the shearing mechanism has sufficient shearing force to ensure that the fruit stem can be smoothly cut. The lifting mechanism 2 can be a scissor-type lifting mechanism, a sleeve-type hydraulic lifting mechanism, or a sleeve-type pneumatic lifting mechanism.

[0026] Furthermore, in this embodiment, the bracket 19 is also provided with a silicone friction plate 20 capable of adaptive deformation. It moves synchronously with the shearing member and first contacts the fruit stem. It can adaptively conform to the curved surface of the fruit to better fit the fruit stem and maintain a certain degree of stability during shearing, thereby ensuring better shearing of the fruit stem. A pressure sensor is also provided on the shearing member, providing real-time feedback on pressure data during shearing, thereby providing the shearing assembly with the required shear force reference to ensure the cutting force is sufficient to sever the fruit stem.

[0027] Furthermore, the transmission and collection mechanism 21 includes a storage bin 22 and a conveyor belt 23; a buffer block is provided in the storage bin 22 and is equipped with a weight sensor; the buffer block is made of rubber, which can provide a cushioning and shock-absorbing effect on the fruit during placement and transportation, thereby preventing the fruit from being damaged by collision. Specifically, the conveyor belt 23 is provided with partitions at intervals, and the partitions are provided with anti-slip textures. After the end effector 4 picks the fruit, the fruit picked by the linkage descending of the multi-axis manipulator 3 is placed on the partition, and the fruit is stuck between the partition and the conveyor belt 23, thereby transferring the end-picked fruit to the storage bin 22. The weight sensor can automatically alarm when the storage bin 22 is full, and the storage vehicle has an automatic unloading function.

[0028] Of course, in this embodiment, the harvester is equipped with a power supply system that can install adjustable solar photovoltaic panels on the top and / or sides of the vehicle body 1, which can dynamically adjust the tilt angle according to the position of the sun. The solar photovoltaic panels are electrically connected to a battery pack to charge it, and further provide power for the vehicle body 1 to move. It can also be equipped with a fuel engine as a backup power source, and the power is dynamically distributed through an intelligent energy management system, with solar energy providing the priority and fuel as the backup.

[0029] like Figure 6 As shown, based on the automatic picking method of the large-scale automatic fruit picking machine, the large-scale automatic fruit picking machine is provided with a controller and a memory, and the controller is suitable for executing the computer program in the memory to control the large-scale automatic fruit picking machine to perform the following steps: Based on the plantation map information, the improved A algorithm or the fast exploration random tree algorithm is used to generate the initial path to cover the orchard area; Based on the recognition system, a SLAM map is constructed in real time. The recognition system includes a laser radar and a visual sensor, which can scan the orchard environment, generate a three-dimensional terrain model, and detect terrain changes (such as ditches and hillocks) and the location of obstacles (such as tree roots) in real time. Based on the SLAM map, the initial path is dynamically adjusted using the D*Lite algorithm to dynamically adjust to terrain changes and avoid obstacles; Optimize path selection strategies through historical operation data; According to the path, the cruise system drives the vehicle body 1 to a preset position; wherein the preset position is a position where there are fruit trees; The hyperspectral camera of the recognition system identifies fruit information, including position, shape, size and maturity, and provides data support for the motion planning of the multi-axis manipulator 3; According to the position of the fruit, the lifting mechanism 2 works, the multi-axis manipulator 3 moves the end effector 4 to the corresponding position, controls the clamping assembly to clamp the fruit, and then the shearing assembly cuts off the fruit stem, thereby realizing automatic picking of the fruit; The picked fruits are placed on the transmission and collection mechanism 21 for transmission and collection.

[0030] It autonomously navigates the fruit garden, identifies the fruit, and uses the end effector 4 to grip and shear the fruit, before transporting and collecting the fruit, achieving fully automated harvesting. The coordination between the end effector 4 and the multi-axis manipulator 3, and the intersection of the clamping axis of the end gripper's clamping assembly and the shearing plane of the shearing assembly, make it suitable for harvesting a variety of large fruits. This makes it particularly suitable for harvesting fruits that grow between leaves and branches and are tilted upward, enabling faster and more convenient shearing and harvesting.

[0031] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

[0032] In the description of the present invention, it should 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" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0034] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

Claims

1. A large-scale automatic fruit picking machine, comprising a movable vehicle body and a lifting mechanism arranged on the vehicle body, characterized in that: The vehicle body is provided with a cruise system capable of controlling the vehicle body to cruise within the park, an identification system for identifying the environment and fruit information, a multi-axis manipulator provided on the lifting mechanism, an end effector provided on the multi-axis manipulator, and a transmission and collection mechanism for transporting and collecting the fruit; In which, the end effector includes a clamping assembly and a shearing assembly arranged on the base; the clamping axis of the clamping assembly is arranged to intersect with the shear plane of the shearing assembly, and the intersection angle is less than 90 degrees; the base can be rotatably set on the multi-axis manipulator; the clamping assembly includes a first drive, a bracket connected to the first drive, and one end can be rotatably connected to the base and two clamping arms that can be linked with the bracket; when the first drive drives the bracket to retract, the two clamping arms approach each other toward the clamping axis to clamp the fruit; when the first drive drives the bracket to extend, the two clamping arms move away from each other; the shearing assembly includes a second drive, and two shearing pieces; the second drive can drive the two shearing pieces to approach or move away from each other to achieve a shearing action.

2. The large-scale automatic fruit picking machine according to claim 1, characterized in that: The clamping axis of the clamping assembly and the shearing plane of the shearing assembly are arranged to intersect at 45 degrees.

3. The large-scale automatic fruit picking machine according to claim 1, characterized in that: The base is L-shaped, one outer side of which is rotatably connected to the multi-axis manipulator, and the other outer side is provided with the shearing component; the clamping component is provided on the inner side.

4. The large-scale automatic fruit picking machine according to claim 3, characterized in that: The clamping assembly includes two first drives arranged in parallel, and two brackets respectively arranged and connected to the first drives; and connecting rods are respectively provided between the two side seats of the two brackets; the clamping arm includes a first support arm, a second support arm and a connecting arm, one end of the first support arm can be rotatably connected to the base, and the two ends of the connecting arm can be rotatably connected to the other end of the first support arm and the connecting rod respectively; one end of the second support arm is connected to the other end of the first support arm.

5. The large-scale automatic fruit picking machine according to claim 4, characterized in that: The shearing assembly includes a driving member having first racks on both sides connected to the second drive, gears arranged on both sides of the driving member and connected to the first racks, two second racks respectively connected to the two gears, two brackets respectively connected to the second racks, and two shearing members respectively connected to the brackets.

6. The large-scale automatic fruit picking machine according to claim 5, characterized in that: The bracket is also provided with a silicone friction sheet capable of generating adaptive deformation; and the shear is provided with a pressure sensor.

7. The large-scale automatic fruit picking machine according to claim 1, characterized in that: The vehicle body is moved by crawler wheels; the transmission and collection mechanism includes a storage bin and a conveyor belt; a buffer block is provided in the storage bin and is equipped with a weight sensor; the conveyor belt is used to transport the fruits picked at the end to the storage bin; the conveyor belt is provided with partitions at intervals, and the partitions are provided with anti-slip textures.

8. The large-scale automatic fruit picking machine according to claim 1, characterized in that: The identification system is arranged on the multi-axis robotic arm at the end of the multi-axis robotic arm.

9. The automatic picking method of the large-scale automatic fruit picking machine according to any one of claims 1 to 8 is characterized in that: The large-scale automatic fruit picking machine is provided with a controller and a memory, and the controller is adapted to execute a computer program in the memory to control the large-scale automatic fruit picking machine to perform the following steps: Use improved A algorithm or fast exploration random tree algorithm to generate initial path; According to the recognition system, a SLAM map is constructed in real time; According to the SLAM map, the initial path is dynamically adjusted using the D*Lite algorithm; Optimize path selection strategies through historical operation data; According to the path, the cruise system drives the vehicle to a preset position; wherein the preset position is a position where there are fruit trees; Identify fruit information including location, shape, size and maturity through the identification system; According to the position of the fruit, the lifting mechanism works, the multi-axis manipulator moves the end effector to the corresponding position, controls the clamping assembly to clamp the fruit, and then the shearing assembly cuts off the fruit stalk; The picked fruits are placed on the transmission and collection mechanism for transmission and collection.

10. The automatic picking method according to claim 9, characterized in that: The recognition system is a laser radar and a hyperspectral camera.

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