Tomato string picking end effector and picking method thereof

The invention provides a string tomato picking end effector and a picking method thereof. The tomato string picking end effector is installed on a picking mechanical arm end flange. The depth camera is fixed above the picking end effector and used for capturing and collecting picking scene images and obtaining tomato stem picking point position information through a deep learning recognition algorithm, and the control system guides the moving mechanical arm to a designated position and executes picking action; the string tomato picking end effector is composed of a handrail, a switch door, a blade, a push head, a tube base, a push rod, a tube sliding table, a push rod motor, a push rod motor base, a motor limiting switch, a sliding block, a push rod limiting switch support, a push rod limiting switch, a sliding rail, a bottom plate, a support, a compression spring, a clamping jaw table and the like. The clamping jaw table is composed of a clamping jaw, a direct-current gear motor, a motor limiting switch, an