## 5 Conclusions  
This article addresses the issues of the manual picking of dragon fruits being time-consuming and inefficient, requiring substantial labor due to repetitive physical work and the lengthy process of selecting and removing spoiled fruits after harvesting. A picking and selecting integrated remote-operation-type dragon-fruit-picking device is designed and manufactured.  
1. The picking device integrates picking, sorting, and removing fruits, which greatly reduces the labor force, liberates the hands of fruit farmers, and has broad application prospects.
2. The YOLOv5-based high-recognition-rate dragon fruit target detection algorithm is improved by using the image weighting strategy for the category imbalance of the dataset, hyperparameter evolutionary optimization, label smoothing strategy, loss function optimization, etc. The adaptability of the visual recognition system to a complex picking environment was investigated, and the results showed that the improved device can achieve better recognition and localization results for targets with a small fruit size, high density, and bright-light scenes.
3. The HX711 A/D converter module completes the process of converting the voltage signal output from the pressure sensor into weight data, and designs a procedure with which to reduce the interference of shock and vibration with the weight signal to realize the real-time display of the weight of the fruits and their sorting.
4. Through the design of the tracked mobile platform, the picking device achieves excellent obstacle-crossing ability and good shock-absorbing capability. By eliminating vibration interference, the picking device can better perform localization.
5. By optimizing the suction pad structure of the bad fruit removal system into a double air cavity design, the bad fruit removal system is better adapted to the process of dragon fruit picking.
6. The feasibility of the end effector of the plucking device and shearing device is investigated through mechanical analysis, and the results show that the structure of both can satisfy the requirements for use.  
Eventually, through several orthogonal experiments and data processing, the picking effect was found to be optimal when the closing speed of the flexible claw was 0.029 m/s, the extension speed of the electric cylinder was 0.085 m/s, and the movement speed of the robotic arm was 0.15 m/s. The net picking rate of the device can reach 90.5%, and the damage rate can be up to 2.9%, satisfying the requirements of the dragon-fruit-picking operation.  
Conceptualization, P.Y. and L.Q.; methodology, P.Y. and Q.S.; software, P.Y. and Y.Z.; validation, Q.S., P.Y., and L.X.; formal analysis, Z.F.; investigation, A.Z. and Z.F.; resources, Q.S. and L.X.; data curation, Y.Z.; writing--original draft preparation, P.Y.; writing--review and editing, P.Y. and L.Q.; visualization, P.Y. and L.X.; supervision, Q.S.; project administration, P.Y. and Q.S.; funding acquisition, P.Y., L.X., and Q.S. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the Liaocheng University Latitudinal Projects under grant no. K23 LD60, Shandong Province Science and Technology Small and Medium Enterprises Innovation Ability Enhancement Project No. 2022 TSGC2589, Liaocheng University Project Fund No. K23 LB0101, Discipline with Strong Characteristics of Liaocheng University--Intelligent Science and Technology under grant 319462208, and Liaocheng University Undergraduate Innovation and Entrepreneurship Training Program under Grant 202210447017.  
Data Availability Statement: The original contributions presented in the study are included in the article, further inquiries can be directed to the corresponding author.  
The authors declare no conflicts of interest.