The invention discloses a mechanical arm vibration auxiliary automatic sea-buckthorn harvesting device based on
machine vision and a grabbing point positioning and sea-buckthorn harvesting method, relates to the technical field of sea-buckthorn harvesting, and solves the problem that sea-buckthorn harvesting is difficult. A crawler belt moving device is provided with a rubber crawler belt, a picking mechanical arm has
six degrees of freedom, and the mechanical arm has
six degrees of freedom; the
tail end execution device is sent to a harvesting position in a point-to-point mode, the
tail end execution device vibrates branches, close to the
tail end, of a sea-buckthorn tree and detects the
vibration amplitude of the branches of the sea-buckthorn tree, then comparison of a
binocular vision system is combined, an excitation power source is combined to output an
electric signal with the appropriate frequency, the tail end execution device has the optimal amplitude, and the
recovery efficiency is improved; the collecting
umbrella device works cooperatively and is unfolded when the tail end executing device works, fallen fruits are collected, the fallen fruits fall into a fruit frame of the fallen fruit collecting device, the fruit frame is placed on a
pressure sensor, workers are informed to timely come to replace the fruit frame, and efficient and continuous harvesting work of the sea-buckthorn trees planted in a plantation in a large scale is achieved.