Full-automatic fruit picking device

The invention discloses a full-automatic fruit picking device, which comprises a tracked vehicle. A fruit box and a control device are arranged on the tracked vehicle; a mobile base frame is also arranged on the tracked vehicle. The mobile base frame is provided with a XY axis mobile platform, and a telescopic support frame is vertically installed on the XY axis mobile platform; the top of the telescopic support frame is connected with one end of a three-degree-of-freedom mechanical arm through a rotary mechanism, and the other end of the three-degree-of-freedom mechanical arm is provided witha shearing manipulator; the shearing manipulator is provided with a base; the upper, middle and lower parts of the base are correspondingly provided with a binocular camera, a shearing cutter and a hanging ring which are horizontally arranged; the hanging ring is connect with the upper port of a soft bag; the lower port of the soft bag is extended into the fruit box, and multiple layers of anti-collision skirts are arran