Movable lifting type high-altitude litchi automatic harvesting device and operation method thereof

The invention relates to a movable lifting type automatic high-altitude litchi harvesting device which comprises a walking mechanism, a multi-arm lifting mechanism, a parallel movement mechanism, a planar movement mechanism and a tail end picking mechanism which are sequentially arranged from bottom to top. The system further comprises a close-shot depth camera, a long-shot depth camera and a control mechanism. The tail end picking mechanism comprises a hollow bottom plate; a limiting assembly, a chain saw assembly, a rotating supporting column and a blocking stick are installed on the hollow bottom plate. The limiting assembly comprises a linear motor and a limiting column; the limiting column and the linear motor are located on the two sides of the rear portion of the chain saw assembly respectively and connected with the chain saw assembly through springs. The linear motor drives the chain saw assembly to horizontally rotate with the rotating supporting column as a fulcrum and jointly cut litchi stems with