Picking machine with image recognition function

Abstract

The invention relates to the technical field of fruit picking, and provides a picking machine with an image recognition function, the picking machine comprises a picking vehicle, tree surrounding mechanisms, a picking mechanism and an image recognition mechanism, the picking vehicle is provided with a supporting plate, the supporting plate is provided with a controller, the two tree surrounding mechanisms are arranged on the supporting plate, the picking mechanism is arranged on the tree surrounding mechanisms, and the image recognition mechanism is arranged on the picking mechanism. The two image recognition mechanisms are arranged on the picking mechanism, the tree surrounding mechanism comprises an adjusting shell, a first motor, a first threaded rod, an adjusting assembly and a tree surrounding assembly, the adjusting shell is arranged on one side of the supporting plate, the first motor is arranged on the adjusting shell, and the first threaded rod is arranged in the adjusting shell; the output end of the first motor penetrates through the adjusting shell to be connected with the first threaded rod, the two tree surrounding assemblies are arranged on the adjusting assembly, and the problems that in the related technology, the picking vehicle needs to be moved continuously for picking of one fruit tree, time and labor are wasted, and the picking efficiency is low are solved.

Description

Technical Field

[0001] This invention relates to the field of fruit picking technology, specifically to a fruit picking machine with image recognition function. Background Technology

[0002] With the rapid development of agricultural technology, manual harvesting of fruit trees such as apples and pears has been eliminated. Fruits are now harvested using harvesting equipment with image recognition. After the harvesting equipment is fixed in a certain position, the image recognition camera takes a picture of the fruit tree and identifies it, which is then transmitted to the controller. The controller is then programmed to control the movement trajectory of the harvesting mechanism to avoid the thick trunk and harvest the fruit.

[0003] In existing technologies, harvesting equipment uses image recognition to control the harvesting mechanism to pick fruit. Therefore, the next fruit tree can only be harvested after the previous one has been harvested. When harvesting a fruit tree, the harvesting equipment needs to be moved to one side of the tree to pick the fruit. After that, the harvesting equipment needs to be moved to the other side of the tree to pick the fruit on the other side. Therefore, harvesting a single tree requires moving the harvesting equipment at least once, which is time-consuming, labor-intensive, and has low harvesting efficiency. Summary of the Invention

[0004] This invention proposes a fruit harvester with image recognition function, which solves the problem in related technologies that require constantly moving the harvesting vehicle to harvest a single fruit tree, which is time-consuming, labor-intensive, and has low harvesting efficiency.

[0005] The technical solution of the present invention is as follows: A harvesting machine with image recognition function, comprising:

[0006] A picking vehicle, on which a support plate is installed, and on which a controller is installed;

[0007] The tree-encircling mechanism consists of two sets, which are mounted on the support plate to encircle the fruit tree.

[0008] A harvesting mechanism, which is installed on the tree enclosure mechanism, is used to harvest the fruit;

[0009] An image recognition mechanism is provided, and two image recognition mechanisms are provided on the picking mechanism for image recognition of the fruit;

[0010] The tree-encircling mechanism includes:

[0011] An adjusting housing is disposed on one side of the support plate;

[0012] A first motor is mounted on the adjustment housing;

[0013] A first threaded rod is disposed inside the adjusting housing, and the output end of the first motor passes through the adjusting housing and is connected to the first threaded rod, and a first adjusting block is disposed on the first threaded rod;

[0014] An adjustment component is disposed on the first adjustment block and is used to drive the tree-encircling mechanism for adjustment.

[0015] The tree enclosure assembly consists of two sets, which are mounted on the adjustment assembly to enclose the trunk of the fruit tree.

[0016] Furthermore, the adjustment component includes:

[0017] The support base is disposed on the first adjusting block;

[0018] A second motor is mounted on the support base;

[0019] A connecting housing is fixedly connected to the support base;

[0020] The second threaded rod is disposed between the connecting housings, and the output end of the second motor passes through the support base and the connecting housing and is connected to the second threaded rod.

[0021] Furthermore, the surrounding tree component includes:

[0022] The second adjusting block is disposed on the second threaded rod, and the connecting housing is provided with a first sliding groove that matches the second adjusting block;

[0023] A tree ring, which is connected to the second adjusting block via multiple connecting rods.

[0024] Furthermore, the harvesting mechanism includes:

[0025] A walking assembly, wherein the walking assembly is disposed on the tree ring;

[0026] A fruit-picking component, which is mounted on the walking component;

[0027] A fruit-collecting component is disposed on the fruit-picking component.

[0028] As a further aspect of the present invention, the walking component includes:

[0029] A walking base is provided on the tree ring, the tree ring has a second sliding groove that matches the walking base, and the walking base has a first cavity.

[0030] The third motor, of which there are multiple third motors, is disposed in the first cavity. Each second motor is connected to a wheel. A third sliding groove matching the wheel is provided on one of the inner sidewalls of the tree ring.

[0031] The springs are provided in multiples, and each spring corresponds to a third motor. The third motors are connected to the walking base through the springs, and the bottom of the walking base has a first opening that matches the third motor.

[0032] Based on the aforementioned solution, preferably, the fruit-picking component includes:

[0033] A fixed base is mounted on the walking base;

[0034] A fourth motor is mounted on the fixed base;

[0035] A connecting plate is mounted on the fixed base via a first connecting shaft, and the output end of the fourth motor passes through the fixed base and is connected to the first connecting shaft.

[0036] A connecting base is provided on the connecting plate;

[0037] A movable plate, which is connected to the connecting plate via a second connecting shaft;

[0038] A fifth motor is mounted on the connecting base, and the output end of the fifth motor passes through the connecting base and is connected to the second connecting shaft.

[0039] The sixth motor is fixedly mounted on the movable plate, and the output end of the sixth motor is provided with a fixed plate;

[0040] A cylinder is mounted on the fixed plate, and a picking housing is provided at the output end of the cylinder, and a picking shear is provided on the picking housing.

[0041] Furthermore, the fruit-collecting component includes:

[0042] A plurality of fixed clamps are provided, and the plurality of fixed clamps are respectively disposed on the picking shell and the movable plate;

[0043] A receiving tube, wherein the receiving tube is disposed between the plurality of fixed clips;

[0044] A collection box is located below the tree ring.

[0045] Furthermore, the image recognition function mechanism includes:

[0046] A support platform, which is connected to the harvesting shell via a connecting pipe;

[0047] The seventh motor is located at the bottom of the support platform;

[0048] An image recognition camera, wherein the image recognition camera is mounted on the output end of the second motor via a rotating ring;

[0049] A toggle lever, wherein multiple toggle levers are provided, and the multiple toggle levers are provided on the output end of the seventh motor.

[0050] The working principle and beneficial effects of this invention are as follows:

[0051] 1. In this invention, after the picking vehicle is driven to a suitable position by installing a tree-encircling mechanism, the first motor starts and drives the first threaded rod to rotate. The first adjusting block moves towards the fruit tree as the first threaded rod rotates. The support base, connecting housing, second adjusting block, and tree-encircling ring move towards the fruit tree as the first adjusting block moves. After the two tree-encircling rings move to both sides of the fruit tree, the second motor rotates and drives the second adjusting block and tree-encircling rings to move towards the fruit tree until the two tree-encircling rings come into contact and connect, so that the tree-encircling rings surround the fruit tree. By surrounding the fruit tree, the picking vehicle is avoided from moving multiple times, thus improving the picking efficiency.

[0052] 2. In this invention, after the location of the fruit to be picked is determined by installing the picking mechanism, the third motor is started. The third motor drives the rotating wheel to rotate in the third slide groove. The walking base rotates around the tree ring as the rotating wheel rotates. While the rotating wheel drives the walking base to move, the spring will always push against the third motor to ensure that the rotating wheel keeps moving in the third slide groove. After the walking base drives the fruit picking component to the appropriate position, the fourth motor is started. The fourth motor drives the connecting plate to rotate around the fixed base. After it rotates to the appropriate position, the fifth motor is started. The fifth motor drives the movable plate to rotate around the connecting plate, so that the picking shears move to the vicinity of the fruit to be picked. The sixth motor is started. The sixth motor drives the cylinder, picking housing and picking shears to rotate to the appropriate angle. Then the cylinder is started. The cylinder drives the picking housing and picking shears to move to the root of the fruit. The picking shears cut the fruit and the fruit enters the collection tube and enters the collection box. This avoids multiple moves of the picking vehicle and improves picking efficiency.

[0053] 3. In this invention, by installing an image recognition mechanism, before the fruit is picked, the image recognition camera takes a picture of the fruit tree to identify the fruit position. After determining the position of the fruit, the camera transmits the information to the controller. The controller then calculates and determines the movement trajectory to avoid thick branches and transmits an instruction to the picking mechanism, which then picks the fruit. During the picking process, if branches or leaves block the image recognition camera, the controller sends an instruction to start the seventh motor. The seventh motor drives the lever to rotate and clear away the branches and leaves around the image recognition camera to prevent the image recognition camera from being blocked and thus unable to identify the fruit.

[0054] 4. In this invention, by installing a tree-encircling mechanism, a picking mechanism, and an image recognition mechanism in cooperation, the problem of the related technology that the picking of a fruit tree requires constantly moving the position of the picking vehicle, which is time-consuming, labor-intensive, and has low picking efficiency is solved. Attached Figure Description

[0055] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0056] Figure 1 This is a partial cross-sectional structural schematic diagram of the present invention;

[0057] Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0058] Figure 3 This is a schematic diagram of the harvesting mechanism in this invention;

[0059] Figure 4 This is a schematic diagram of the structure of the walking component and the tree ring in this invention;

[0060] Figure 5 This is a schematic diagram of the tree-enclosing mechanism in this invention;

[0061] Figure 6 This is a schematic diagram of the image recognition mechanism in this invention;

[0062] Figure 7 For the present invention Figure 1 A magnified schematic diagram of the partial structure at point A in the middle;

[0063] Figure 8 For the present invention Figure 1 A magnified schematic diagram of the local structure at point B;

[0064] Figure 9 For the present invention Figure 4 A magnified schematic diagram of the structure at point C.

[0065] The labels in the diagram represent: 1. Picking cart; 2. Support plate; 3. Controller; 4. Adjusting housing; 5. First motor; 6. First threaded rod; 7. First adjusting block; 8. Support base; 9. Second motor; 10. Connecting housing; 11. Second threaded rod; 12. Second adjusting block; 13. Tree ring; 14. Connecting rod; 15. Walking base; 16. Third motor; 17. Rotating wheel; 18. Spring; 19. Fixed base; 20. Fourth motor; 21. Connecting plate; 22. Connecting base; 23. Movable plate; 24. Fifth motor; 25. Sixth motor; 26. Fixed plate; 27. Cylinder; 28. Picking housing; 29. ​​Picking shears; 30. Fixed clamp; 31. Collection tube; 32. Collection box; 33. Support platform; 34. Seventh motor; 35. Image recognition camera; 36. Actuating lever. Detailed Implementation

[0066] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0067] Examples, such as Figures 1-9 As shown in the figure, this embodiment proposes a fruit-picking machine with image recognition function, including: a picking vehicle 1, a tree-encircling mechanism, a picking mechanism, and an image recognition mechanism. The picking vehicle 1 is equipped with a support plate 2, and a controller 3 is equipped on the support plate 2. There are two sets of tree-encircling mechanisms, which are set on the support plate 2 to encircle the fruit trees. The picking mechanism is set on the tree-encircling mechanism to pick the fruit. There are two image recognition mechanisms, which are set on the picking mechanism to perform image recognition on the fruit. After the picking vehicle 1 is driven to a suitable position, the tree-encircling mechanism surrounds the fruit trees, and the image recognition mechanism takes pictures of the fruit trees to determine the position of the fruit. Then, the controller 3 issues an instruction for the picking mechanism to pick the fruit.

[0068] Specifically, the tree-encircling mechanism includes: an adjusting housing 4, a first motor 5, a first threaded rod 6, an adjusting assembly, and a tree-encircling assembly. The adjusting housing 4 is located on one side of the support plate 2. The first motor 5 is located on the adjusting housing 4. The first threaded rod 6 is located inside the adjusting housing 4, and the output end of the first motor 5 passes through the adjusting housing 4 and connects to the first threaded rod 6. A first adjusting block 7 is provided on the first threaded rod 6. The adjusting assembly is located on the first adjusting block 7 and is used to drive the tree-encircling mechanism for adjustment. Two sets of tree-encircling assemblies are provided, and the two sets of tree-encircling assemblies are located on the adjusting assembly to encircle the trunk of the fruit tree. The adjusting assembly includes: a support base 8, a second motor 9, a connecting housing 10, and a second threaded rod 11. The support base 8 is located on the first adjusting block 7. The second motor 9 is located on the support base 8. The connecting housing 10 is fixedly connected to the support base 8. The second threaded rod 11 is located between the connecting housings 10, and the output end of the second motor 9 passes through the support base 8 and the connecting housing. The second threaded rod 11 is connected to the second threaded rod 10. The tree-encircling assembly includes a second adjusting block 12 and a tree-encircling ring 13. The second adjusting block 12 is set on the second threaded rod 11. A first sliding groove matching the second adjusting block 12 is opened on the connecting housing 10. The tree-encircling ring 13 is connected to the second adjusting block 12 through multiple connecting rods 14. After the picking vehicle 1 is driven to a suitable position, the first motor 5 starts and drives the first threaded rod 6 to rotate. The first adjusting block 7 moves towards the fruit tree as the first threaded rod 6 rotates. The support base 8, the connecting housing 10, the second adjusting block 12, and the tree-encircling ring 13 move towards the fruit tree as the first adjusting block 7 moves. After the two tree-encircling rings 13 move to both sides of the fruit tree, the second motor 9 rotates and drives the second adjusting block 12 and the tree-encircling ring 13 to move towards the fruit tree until the two tree-encircling rings 13 come into contact and connect, so that the tree-encircling ring 13 surrounds the fruit tree. By surrounding the fruit tree, the picking vehicle 1 is prevented from moving multiple times, thus improving the picking efficiency.

[0069] Correspondingly, the harvesting mechanism includes: a walking component, a picking component, and a collecting component. The walking component is mounted on the tree ring 13, the picking component is mounted on the walking component, and the collecting component is mounted on the picking component. The walking component includes: a walking base 15, a third motor 16, and springs 18. The walking base 15 is mounted on the tree ring 13, and the tree ring 13 has a second groove matching the walking base 15, and a first cavity is formed on the walking base 15. Multiple third motors 16 are provided, and multiple third motors 16 are disposed within the first cavity. Each second motor 16 is connected to a rotating wheel 17. A third groove matching the rotating wheel 17 is formed on one of the inner sidewalls of the tree ring 13. Multiple springs 18 are provided. 8 corresponds one-to-one with multiple third motors 16. These multiple third motors 16 are connected to the walking base 15 via multiple springs 18. The bottom of the walking base 15 has a first opening matching the third motor 16. The fruit-picking assembly includes: a fixed base 19, a fourth motor 20, a connecting plate 21, a connecting base 22, a movable plate 23, a fifth motor 24, a sixth motor 25, and a cylinder 27. The fixed base 19 is mounted on the walking base 15, the fourth motor 20 is mounted on the fixed base 19, the connecting plate 21 is mounted on the fixed base 19 via a first connecting shaft, and the output end of the fourth motor 20 passes through the fixed base 19 and is connected to the first connecting shaft. The connecting plate 21 has a connecting base 22, and the movable plate 23 is connected via a second connecting shaft. The shaft is connected to the connecting plate 21. The fifth motor 24 is mounted on the connecting base 22, and the output end of the fifth motor 24 passes through the connecting base 22 and is connected to the second connecting shaft. The sixth motor 25 is fixedly mounted on the movable plate 23, and the output end of the sixth motor 25 is mounted on the fixed plate 26. The cylinder 27 is mounted on the fixed plate 26, and the output end of the cylinder 27 is mounted on the picking shell 28. The picking shell 28 is equipped with picking shears 29. The fruit harvesting assembly includes: a fixed clamp head 30, a collecting tube 31, and a collecting box 32. Multiple fixed clamp heads 30 are provided, and the multiple fixed clamp heads 30 are respectively mounted on the picking shell 28 and the movable plate 23. The collecting tube 31 is located between the multiple fixed clamp heads 30. The collecting box 32 is located below the tree ring 13. After determining the location of the fruit to be picked, the third motor 16 starts, driving the rotating wheel 17 to rotate within the third groove. The traveling base 15 rotates around the tree ring 13 as the rotating wheel 17 rotates. While the rotating wheel 17 moves the traveling base 15, the spring 18 continuously pushes against the third motor 16, ensuring the rotating wheel 17 remains within the third groove. After the traveling base 15 moves the fruit-picking assembly to the appropriate position, the fourth motor 20 starts, driving the connecting plate 21 to rotate around the fixed base 19. Once in the appropriate position, the fifth motor 24 starts, driving the movable plate 23 to rotate around the connecting plate 21, moving the picking shears 29 near the fruit to be picked. Finally, the sixth motor 25 starts.After the sixth motor 25 drives the cylinder 27, the harvesting housing 28, and the harvesting shears 29 to a suitable angle, the cylinder 27 starts, driving the harvesting housing 28 and the harvesting shears 29 to move to the base of the fruit. The harvesting shears 29 then cuts the fruit, which enters the collecting pipe 31 and then into the collecting box 32.

[0070] Specifically, the image recognition mechanism includes: a support platform 33, a seventh motor 34, an image recognition camera 35, and a lever 36. The support platform 33 is connected to the harvesting housing 28 via a connecting pipe. The seventh motor 34 is located at the bottom of the support platform 33. The image recognition camera 35 is mounted on the output end of the second motor 9 via a rotating ring. Multiple levers 36 are provided, and multiple levers 36 are mounted on the output end of the seventh motor 34. In this invention, by installing the image recognition mechanism, before harvesting the fruit, the image recognition camera 35 takes a picture of the fruit tree to identify the fruit position. After determining the fruit position, the information is transmitted to the controller 3. The controller 3 then calculates and determines the movement trajectory to avoid thick branches and transmits an instruction to the harvesting mechanism, which then harvests the fruit. During the harvesting process, if branches or leaves block the image recognition camera 35, the controller 3 issues an instruction, the seventh motor 34 starts, and the seventh motor 34 drives the lever 36 to rotate and clear away the branches and leaves around the image recognition camera 35, preventing the image recognition camera 35 from being blocked and thus unable to recognize the fruit.

[0071] In this embodiment, the working principle of the fruit-picking machine with image recognition function is as follows: After the fruit-picking vehicle 1 is driven to a suitable position by installing the tree-encircling mechanism, the first motor 5 starts, driving the first threaded rod 6 to rotate. The first adjusting block 7 moves towards the fruit tree as the first threaded rod 6 rotates. The support base 8, connecting housing 10, second adjusting block 12, and tree-encircling ring 13 move towards the fruit tree along with the first adjusting block 7. After the two tree-encircling rings 13 move to both sides of the fruit tree, the second motor 9 rotates, driving the second adjusting block 12... The tree rings 13 move towards the fruit tree until they contact and align, enclosing the fruit tree. The image recognition camera 35 then photographs and identifies the fruit, determining its location and transmitting this information to the controller 3. The controller 3 calculates and determines the trajectory to avoid thick branches before sending instructions to the harvesting mechanism. Once the desired fruit location is determined, the third motor 16 starts, driving the rotating wheel 17 to rotate within the third groove. The traveling base 15 rotates around the tree rings 13 as the rotating wheel 17 rotates. As the rotating wheel 17 moves the traveling base 15, the spring 18 continuously presses against the third motor 16, ensuring that the rotating wheel 17 remains within the third slide groove. After the traveling base 15 moves the fruit-picking assembly to the appropriate position, the fourth motor 20 starts, driving the connecting plate 21 to rotate around the fixed base 19. Once it reaches the appropriate position, the fifth motor 24 starts, driving the movable plate 23 to rotate around the connecting plate 21, moving the picking shears 29 to the vicinity of the fruit to be picked. Then, the sixth motor 25 starts. After the sixth motor 25 drives the cylinder 27, the picking housing 28 and the picking shears 29 to a suitable angle, the cylinder 27 starts and drives the picking housing 28 and the picking shears 29 to move to the root of the fruit. The picking shears 29 cuts the fruit and the fruit enters the collection tube 31 and then into the collection box 32. During the fruit picking process, if branches and leaves block the image recognition camera 35, the controller 3 issues a command and the seventh motor 34 starts. The seventh motor 34 drives the lever 36 to rotate and clear away the branches and leaves around the image recognition camera 35.

[0072] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A harvesting machine with image recognition function, characterized in that, include: A picking vehicle (1) is provided with a support plate (2), and a controller (3) is provided on the support plate (2); The tree-encircling mechanism is provided in two sets, which are set on the support plate (2) to enclose the fruit tree; A harvesting mechanism, which is installed on the tree enclosure mechanism, is used to harvest the fruit; An image recognition mechanism is provided, and two image recognition mechanisms are provided on the picking mechanism for image recognition of the fruit; The tree-encircling mechanism includes: Adjustment housing (4), the adjustment housing (4) is disposed on one side of the support plate (2); The first motor (5) is mounted on the adjusting housing (4); The first threaded rod (6) is disposed inside the adjusting housing (4), and the output end of the first motor (5) passes through the adjusting housing (4) and is connected to the first threaded rod (6), and the first threaded rod (6) is provided with a first adjusting block (7); An adjustment component is disposed on the first adjustment block (7) and is used to drive the tree-encircling mechanism to make adjustments; The tree enclosure assembly consists of two sets, which are mounted on the adjustment assembly to enclose the trunk of the fruit tree.

2. A harvesting machine with image recognition function according to claim 1, characterized in that, The adjustment component includes: A support base (8) is provided on the first adjusting block (7); The second motor (9) is mounted on the support base (8); A connecting housing (10) is fixedly connected to the support base (8); The second threaded rod (11) is disposed between the connecting housing (10), and the output end of the second motor (9) passes through the support base (8) and the connecting housing (10) and is connected to the second threaded rod (11).

3. A harvesting machine with image recognition function according to claim 2, characterized in that, The surrounding tree component includes: The second adjusting block (12) is disposed on the second threaded rod (11), and the connecting housing (10) is provided with a first sliding groove that matches the second adjusting block (12); Tree ring (13), which is connected to the second adjusting block (12) via multiple connecting rods (14).

4. A harvesting machine with image recognition function according to claim 3, characterized in that, The harvesting organization includes: A walking assembly is disposed on the tree ring (13); A fruit-picking component, which is mounted on the walking component; A fruit-collecting component is disposed on the fruit-picking component.

5. A harvesting machine with image recognition function according to claim 4, characterized in that, The walking component includes: Walking base (15), the walking base (15) is disposed on the tree ring (13), the tree ring (13) is provided with a second sliding groove that matches the walking base (15), and the walking base (15) is provided with a first cavity; The third motor (16) is provided in multiple ways. Multiple third motors (16) are provided in the first cavity. Each second motor (9) is connected to a rotating wheel (17). A third sliding groove matching the rotating wheel (17) is opened on one of the inner side walls of the tree ring (13). A plurality of springs (18) are provided, and each of the plurality of springs (18) corresponds one-to-one with a plurality of third motors (16). The plurality of third motors (16) are connected to the walking base (15) through the plurality of springs (18), and the bottom of the walking base (15) is provided with a first opening that matches the third motor (16).

6. A harvesting machine with image recognition function according to claim 5, characterized in that, The fruit-picking component includes: A fixed base (19) is disposed on the walking base (15); A fourth motor (20) is mounted on the fixed base (19); A connecting plate (21) is mounted on the fixed base (19) via a first connecting shaft, and the output end of the fourth motor (20) passes through the fixed base (19) and is connected to the first connecting shaft. A connecting base (22) is provided on the connecting plate (21); Movable plate (23), the movable plate (23) is connected to the connecting plate (21) via a second connecting shaft; The fifth motor (24) is mounted on the connecting base (22), and the output end of the fifth motor (24) passes through the connecting base (22) and is connected to the second connecting shaft; The sixth motor (25) is fixedly mounted on the movable plate (23), and the output end of the sixth motor (25) is provided with a fixed plate (26); A cylinder (27) is mounted on the fixed plate (26). The output end of the cylinder (27) is provided with a picking housing (28), and a picking shear (29) is provided on the picking housing (28).

7. A harvesting machine with image recognition function according to claim 6, characterized in that, The fruit-harvesting component includes: Fixed clamps (30), and multiple fixed clamps (30) are provided, and the multiple fixed clamps (30) are respectively provided on the picking shell (28) and the movable plate (23); A receiving tube (31) is disposed among the plurality of fixed clips (30); Collection box (32) is located below the tree ring (13).

8. A harvesting machine with image recognition function according to claim 7, characterized in that, The image recognition function includes: A support platform (33) is connected to the harvesting housing (28) via a connecting pipe; A seventh motor (34) is disposed at the bottom of the support platform (33); An image recognition camera (35) is mounted on the output end of the second motor (9) via a rotating ring; A toggle lever (36) is provided, and multiple toggle levers (36) are provided on the output end of the seventh motor (34).

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