Apple picking and collecting machine and picking and collecting method thereof

The invention discloses an apple picking and collecting machine and a picking and collecting method thereof. The collecting machine comprises a vehicle, a picking mechanism and a conveying mechanism. The picking mechanism comprises a vertical sliding table module and a picking unit, the picking unit comprises a transverse frame, a horizontal conveying belt device and a telescopic picking arm, the picking arm is provided with a picking claw and a machine vision system for analyzing the maturity and the position of apples to be picked, the transverse frame is installed on the vertical sliding table module in an up-down moving mode, and the picking arm is obliquely installed on the transverse frame in a horizontal moving mode; the picking arm obliquely extends upwards to lift picked apples, and the horizontal conveying belt device can receive the picked apples; the conveying mechanism comprises a vertical conveying belt device, a main conveying belt device and an auxiliary conveying belt device, the nearest dist