Picking equipment, picking control method and control device

The invention discloses picking equipment, a picking control method and a control device. The picking control method comprises the following steps: receiving a startup instruction, and obtaining first position information of a target fruit; judging whether the target fruit is within the execution range of the picking mechanism or not according to the first position information; if the target fruit is within the execution range of the picking mechanism, moving the picking mechanism to pick the target fruit; if the target fruit is located outside the execution range of the picking mechanism, the walking mechanism is started until the target fruit is located within the execution range of the picking mechanism, and the picking mechanism is moved to pick the target fruit. According to the picking control method, picking of fruits in a large-area range can be automatically completed, the target fruits can be automatically recognized, the picking efficiency is higher, and the picking quality is better guaranteed. 本发