A rigid-flexible coupling mechanical arm plant phenotypic information measurement platform and measurement method

Abstract

The present invention discloses a rigid-flexible coupling mechanical arm type plant phenotypic information measurement platform and measurement method, including a crawler walking module, a flexible mechanical arm module and a soft mechanical arm module; the soft mechanical arm module includes a rotating motor and a soft mechanical arm component; the soft mechanical arm component includes an index finger component, a thumb component, a soft pad, etc.; the surface of the index finger end joint, the thumb end joint and the soft pad is arranged with a sensor 1 and a sensor 2; the flexible mechanical arm module of the present invention can accurately control the position and direction, and perform efficient and large-scale phenotypic detection. By designing the flexible joint of the mechanical arm, the vibration generated when the mechanical arm moves is reduced, and damage to the plant is avoided when the plant phenotypic information is manually collected, so as to achieve high-precision and high-efficiency measurement of the plant phenotypic information. The present invention realizes accurate, automatic and non-destructive measurement of the phenotypic parameters of plant organs and the phenotypic parameters of the whole plant through the coordination of the index finger and thumb joint of the flexible part and the telescopic arm of the rigid part.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical engineering, and specifically is a rigid-flexible coupling mechanical arm type plant phenotypic information measurement platform and measurement method. The present invention is suitable for measuring phenotypic information of different types of plants, and realizes non-destructive, accurate and automated measurement of plant organs and whole plant phenotypes. Background Art

[0002] The collection, analysis and description of information can comprehensively evaluate plant growth, development, environmental adaptability, yield and quality. Therefore, plant phenotyping research has important theoretical significance and application value.

[0003] Traditional phenotypic information relies on manual acquisition. When measuring leaf thickness, it is necessary to use a microscope to observe the slices and measure the thickness; when measuring tree branches and crop side branches, it is necessary to use a vernier caliper to read; when measuring tree trunks and crop main stems, a special ruler is used to measure; when measuring the crown width, a ruler is used for measurement. Manual measurement of plant phenotypic information is inefficient, has large errors, and is highly destructive, and cannot meet the needs of plant phenotypic information research. With the continuous updating of sensor technology, the acquisition and development of plant phenotypic information has been promoted. The plant phenotypic platform is a technical platform for quickly and efficiently acquiring, analyzing, and managing plant phenotypic data, with the characteristics of high throughput, high precision, and automation.

[0004] The rigid sensors carried by common plant phenotyping platforms cannot produce elastic deformation and have disadvantages such as large size, weak interactivity, poor adaptability to different terrain environments, and great damage to plants. Due to their incompatibility with plants, plants cannot grow normally, and when fitting to plant leaves or stems, they will cause damage to the plants. In addition, rigid invasive sensors are in direct contact with biological tissues during detection, and mechanical pressure may affect the performance of the sensor and easily cause data distortion. Therefore, traditional rigid plant phenotyping platforms cannot meet the requirements for accurate, non-destructive, and continuous measurement of plant phenotypic information.

[0005] The robotic arm plant phenotyping platform is a tool for studying plant growth and development. It uses a robotic arm system to measure and record various morphological and structural parameters of plants, which helps to optimize production and further study the relationship between genotype and phenotype. Compared with other plant phenotyping platforms, the robotic arm plant phenotyping platform uses a robotic arm system for measurement, which can capture plant growth data in three-dimensional space, and provide more comprehensive and accurate information compared to traditional two-dimensional image analysis. In addition, the robotic arm platform usually has a high degree of automation, which can perform large-scale plant measurements without human operation or intervention, and improve the efficiency of data acquisition. Due to the precise control of the robotic arm system, accurate plant phenotypic data can be provided, which is very useful for studying subtle changes and dynamic processes in plants. At the same time, the design of the robotic arm plant phenotyping platform is usually flexible and can be applied to different types of plants. The robotic arm plant phenotyping platform is highly automated and is used to deeply study the growth and development of plants and promote progress in the field of agriculture and forestry. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a rigid-flexible coupling mechanical arm plant phenotypic information measurement platform and a measurement method for accurate, non-destructive and automated measurement in view of the deficiencies of the above-mentioned prior art.

[0007] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0008] A rigid-flexible coupling mechanical arm type plant phenotypic information measurement platform, comprising a controller, a crawler walking module, a flexible mechanical arm module and a soft manipulator module;

[0009] The crawler walking module includes a crawler walking device and a mechanical arm rotating seat for driving the flexible mechanical arm module to rotate; the crawler walking device is connected to the flexible mechanical arm module through the mechanical arm rotating seat; the flexible mechanical arm module is connected to the soft mechanical arm module;

[0010] The soft manipulator module includes a rotating motor and a soft manipulator component; the soft manipulator component includes an index finger component, a thumb component, a soft pad and a connecting seat;

[0011] The index finger assembly includes an index finger automatic telescopic arm, an index finger connecting joint and an index finger terminal joint, the terminal end of the index finger automatic telescopic arm is rotatably connected to the index finger connecting joint and a driving mechanism 1 for driving the index finger connecting joint to rotate is provided on the index finger automatic telescopic arm, the index finger connecting joint is rotatably connected to the index finger terminal joint and a driving mechanism 2 for driving the index finger terminal joint to rotate is provided on the index finger connecting joint;

[0012] The thumb assembly includes a thumb automatic telescopic arm, a thumb connecting joint and a thumb end joint, the end of the thumb automatic telescopic arm is rotatably connected to the thumb connecting joint and a driving mechanism three for driving the thumb connecting joint to rotate is provided on the thumb automatic telescopic arm, the thumb connecting joint is rotatably connected to the thumb end joint and a driving mechanism four for driving the thumb end joint to rotate is provided on the thumb connecting joint;

[0013] The output end of the rotating motor is connected to the connecting seat 1; the connecting seat 1 is simultaneously connected to the index finger automatic telescopic arm and the thumb automatic telescopic arm, and a soft pad is connected between the index finger automatic telescopic arm and the thumb automatic telescopic arm;

[0014] The distal joint of the index finger and the distal joint of the thumb are made of flexible material;

[0015] The surfaces of the index finger end joint, the thumb end joint and the soft pad are arranged with sensor 1 and sensor 2, and the sensor 1 and sensor 2 are both electrically connected to the controller, and the controller is also electrically connected to the drive mechanism 5 in the mechanical arm rotating seat, the drive mechanism 6 in the index finger automatic telescopic arm, the drive mechanism 6 in the thumb automatic telescopic arm, the drive mechanism 1, the drive mechanism 2, the drive mechanism 3 and the drive mechanism 4;

[0016] The sensor 1 is used to detect whether it is in contact with the plant surface and send a signal to the controller, the sensor 2 is used to detect the distance and send a signal to the controller, and the controller is used to control the drive mechanism 5 in the mechanical arm rotating seat, the drive mechanism 6 in the index finger automatic telescopic arm, the drive mechanism 7 in the thumb automatic telescopic arm, the drive mechanism 1, the drive mechanism 2, the drive mechanism 3 and the drive mechanism 4 to work.

[0017] As a further improved technical solution of the present invention, the mechanical arm rotating seat includes a driving mechanism five, a harmonic reducer one, a connecting shaft, an elastic coupling one, a transmission shaft at the bottom of the mechanical arm, a spline one, a spur gear shaft, a bearing two, a bearing one, an inner gear ring, a mechanical arm fixed base, a mechanical arm rotating base and a base cover plate;

[0018] The output shaft of the driving mechanism five is connected to a harmonic reducer one, the harmonic reducer one is connected to a connecting shaft, the connecting shaft is connected to the transmission shaft at the bottom of the robot arm through an elastic coupling one, the transmission shaft at the bottom of the robot arm is connected to a spur gear shaft through a spline one, the spur gear shaft passes through the through hole at the bottom of the robot arm fixed base and is rotatably connected to the robot arm fixed base through a bearing two, the spur gear shaft is meshed with an inner gear ring, the inner gear ring is connected to the robot arm rotating seat, the robot arm rotating seat is rotatably connected to the robot arm fixed base through a bearing one and the top of the robot arm rotating seat is located outside the through hole at the top of the robot arm fixed base, the bottom of the robot arm fixed base is connected to the base cover plate by bolts, and the base cover plate and the driving mechanism five are both connected to the crawler walking device by bolts.

[0019] As a further improved technical solution of the present invention, the flexible robotic arm module includes a first robotic arm arm, a second robotic arm arm, a robotic arm end arm and a robotic arm flexible joint, the robotic arm rotating seat is connected to the first robotic arm arm through the robotic arm flexible joint, the first robotic arm arm is connected to the second robotic arm arm through the robotic arm flexible joint, the second robotic arm arm is connected to the robotic arm end arm through the robotic arm flexible joint, and the robotic arm end arm is connected to the rotating motor through the connecting seat 2;

[0020] The mechanical arm flexible joint comprises a driving mechanism seven, a motor box, a harmonic reducer two, a flexible joint output shaft, a bearing three, a flexible coupling two, a spring connection seat, a spring, a spline two, a connecting piece and a joint housing;

[0021] The drive mechanism 7 is connected in the motor box by bolts, the output shaft of the drive mechanism 7 is connected to the flexible joint output shaft through the harmonic reducer 2, the flexible joint output shaft is rotatably connected to the motor box through the bearing 3, the other end of the flexible joint output shaft extends outward from the reserved hole at the rear end of the motor box and is connected to the spring connection seat through the elastic coupling 2, a spring is provided on the spring connection seat, the spring connection seat is connected to the connecting piece through the spline 2, the connecting piece is connected to the joint housing by bolts, and the elastic coupling 2 and the spring connection seat are located in the inner hole of the joint housing;

[0022] The motor box is connected to the mechanical arm rotating seat, the first arm rod of the mechanical arm or the second arm rod of the mechanical arm; the joint housing is connected to the first arm rod of the mechanical arm, the second arm rod of the mechanical arm or the end arm rod of the mechanical arm;

[0023] The driving mechanism 7 is electrically connected to the controller.

[0024] As a further improved technical solution of the present invention, the flexible joint of the mechanical arm further includes an oil seal, a bearing end cover and a joint end cover, the bearing end cover is connected to the rear end of the motor box by bolts, the rear end of the bearing end cover is located in the inner hole of the joint housing, and an oil seal is provided between the bearing end cover and the inner wall of the joint housing; the top of the motor box is connected to the motor cover by bolts;

[0025] The driving mechanism 7 adopts a servo motor.

[0026] As a further improved technical solution of the present invention, the thumb automatic telescopic arm has the same structure as the index finger automatic telescopic arm, and both include a driving mechanism six, a first telescopic arm, a second telescopic arm, a telescopic arm rack and a transmission gear. The driving mechanism six is ​​connected to the second telescopic arm, the output shaft of the driving mechanism six is ​​connected to the transmission gear, the transmission gear is meshed with the telescopic arm rack, the telescopic arm rack is connected to the first telescopic arm, one end of the second telescopic arm is located on the inner side of the first telescopic arm, and the two are slidably connected by a slide rail;

[0027] The first telescopic arm and the second telescopic arm are made of rigid material.

[0028] As a further improved technical solution of the present invention, the driving mechanism 1 is connected to the index finger automatic telescopic arm, and the output end of the driving mechanism 1 is connected to the index finger connection joint; the driving mechanism 2 is connected to the index finger connection joint, and the output end of the driving mechanism 2 is connected to the index finger terminal joint; the driving mechanism 3 is connected to the thumb automatic telescopic arm, and the output end of the driving mechanism 3 is connected to the thumb connection joint; the driving mechanism 4 is connected to the thumb connection joint, and the output end of the driving mechanism 4 is connected to the thumb terminal joint;

[0029] The index finger connecting joint and the thumb connecting joint are made of flexible material.

[0030] As a further improved technical solution of the present invention, the driving mechanism one, driving mechanism two, driving mechanism three, driving mechanism four and driving mechanism six adopt stepper motors; and the driving mechanism five adopts a servo motor.

[0031] As a further improved technical solution of the present invention, the sensor 1 adopts a fiber grating sensor, and the fiber grating sensor is arranged at the fingertip of the end joint of the index finger, the fingertip of the end joint of the thumb and on the soft pad;

[0032] The second sensor includes a self-inductive inductive sensor and a metal object. The self-inductive inductive sensor is arranged at the fingertip of the distal joint of the index finger, and the metal object is arranged at the fingertip of the distal joint of the thumb and on the soft pad.

[0033] In order to achieve the above technical purpose, another technical solution adopted by the present invention is:

[0034] A measurement method of a rigid-flexible coupling mechanical arm plant phenotypic information measurement platform, comprising:

[0035] The image acquisition module acquires image information of the trunk to be measured and sends the image information to the controller. The controller determines the position of the target to be measured according to the image information. The controller controls the driving mechanism 5 in the mechanical arm rotating seat to move so that the soft manipulator module faces the target to be measured. The controller controls the driving mechanism 7 in the multiple mechanical arm flexible joints in the flexible mechanical arm module to move so that the soft manipulator module moves to the position of the target to be measured.

[0036] If the target to be measured is the thickness of the leaf, the controller controls the actions of the driving mechanism 1, the driving mechanism 2, the driving mechanism 3 and the driving mechanism 4 in the soft manipulator module respectively, and then controls the rotation of the index finger connecting joint, the index finger terminal joint, the thumb connecting joint and the thumb terminal joint respectively, so that the tip of the index finger terminal joint and the tip of the thumb terminal joint clamp the leaf surface to be measured. When the fiber grating sensor at the tip of the index finger terminal joint and the fiber grating sensor at the tip of the thumb terminal joint both touch the leaf surface to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1, the driving mechanism 2, the driving mechanism 3 and the driving mechanism 4 to stop the action. At this time, the self-inductive inductance sensor at the tip of the index finger terminal joint detects the metal object at the tip of the thumb terminal joint and sends a signal to the controller, so as to measure the leaf surface thickness of the leaf to be measured.

[0037] If the target to be measured is a slender target such as the diameter of a tree trunk or the diameter of a crop branch, the controller controls the action of the driving mechanism 1 and the driving mechanism 2 in the soft manipulator module respectively, and then controls the rotation of the index finger connecting joint and the index finger terminal joint respectively, so that the index finger connecting joint and the index finger terminal joint surround the target to be measured. When the fiber grating sensor on the soft pad and the fiber grating sensor at the fingertip of the index finger terminal joint both touch the target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1 and the driving mechanism 2 to stop moving. At this time, the self-inductive inductance sensor at the fingertip of the index finger terminal joint detects the metal object on the soft pad and sends a signal to the controller, thereby measuring the diameter of the target to be measured.

[0038] If the target to be measured is a large target such as the diameter of a tree trunk or the diameter of a crop stem, the controller controls the actions of the drive mechanism 1, the drive mechanism 2, the drive mechanism 3 and the drive mechanism 4 in the soft manipulator module respectively, and then controls the rotation of the index finger connecting joint, the index finger terminal joint, the thumb connecting joint and the thumb terminal joint respectively, so that the fingertip of the index finger terminal joint and the fingertip of the thumb terminal joint clamp the target to be measured. When the fiber grating sensor at the fingertip of the index finger terminal joint and the fiber grating sensor at the fingertip of the thumb terminal joint both touch the target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the drive mechanism 1, the drive mechanism 2, the drive mechanism 3 and the drive mechanism 4 to stop moving. At this time, the self-inductive inductance sensor at the fingertip of the index finger terminal joint detects the metal object at the fingertip of the thumb terminal joint and sends a signal to the controller, thereby measuring the diameter of the target to be measured.

[0039] If the target to be measured is the crown width, the controller controls the driving mechanism six in the thumb automatic telescopic arm and the index finger automatic telescopic arm in the soft manipulator module to move respectively, and the thumb automatic telescopic arm and the index finger automatic telescopic arm extend. The controller then controls the driving mechanism one, the driving mechanism two, the driving mechanism three and the driving mechanism four to move respectively, and then controls the index finger connecting joint, the index finger terminal joint, the thumb connecting joint and the thumb terminal joint to rotate respectively, so that the index finger connecting joint, the index finger terminal joint, the thumb connecting joint and the thumb terminal joint envelop the target to be measured. When the fiber grating sensor at the fingertip of the index finger terminal joint and the fiber grating sensor at the fingertip of the thumb terminal joint both touch the target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism one, the driving mechanism two, the driving mechanism three and the driving mechanism four to stop moving. At this time, the self-inductive inductance sensor at the fingertip of the index finger terminal joint detects the metal object at the fingertip of the thumb terminal joint and sends a signal to the controller, so as to measure the crown width of the target to be measured.

[0040] In order to solve the problems in the prior art, the present invention proposes a plant phenotypic information measurement platform based on rigid-flexible coupling. The flexible manipulator module can be moved freely to realize the collection of phenotypic information of plants of multiple varieties and multiple growth periods. For the leaves and stems of plants, rigid measurement tools will cause irreversible damage to them. By designing a flexible manipulator module and a soft manipulator module, non-destructive measurement of plant phenotypic information is realized. The flexible manipulator module provides precise positioning to prevent the manipulator from vibrating greatly when moving, and reduce the damage to plants caused by vibration during measurement. The soft index finger joint and thumb joint cooperate with the automatic telescopic arm. For different measurement targets and parameters to be measured, the soft manipulator module uses different fingers and combinations to measure the thickness of leaves, the measurement of slender targets such as tree branches and crop side branches, the measurement of thick targets such as tree trunks and crop main stems, and the measurement of crown width, so as to obtain plant phenotypic information. At the same time, the soft index finger joint and thumb joint are made of flexible materials, which will not cause damage to the target plants to be measured. The present invention provides a plant phenotypic information platform that can accurately, non-destructively and automatically measure through a rigid-flexible coupling method.

[0041] The measurement platform provided by the present invention has a rigid-flexible coupling manipulator, wherein the manipulator's flexible joint, the soft index finger joint and the thumb joint and the soft pad belong to the flexible part, and the arm of the manipulator and the telescopic arm of the manipulator belong to the rigid part. The flexible part and the rigid part work together to form a rigid-flexible coupling manipulator structure, which combines the advantages of the good softness of the flexible material and the high hardness of the rigid material, and realizes the non-destructive, accurate and automated measurement of the phenotype of plant organs and the whole plant. The crawler walking module in the present invention can realize the movement under various complex terrains, has strong adaptability and stability. The manipulator's flexible joint mainly reduces vibration through a spring device, improves the control accuracy of the manipulator, reduces the large shaking of the end caused by the movement of the manipulator, and also improves the positioning accuracy of the manipulator. For different measurement targets and parameters to be measured, the soft manipulator module uses different fingers and combinations to measure the thickness of leaves, the measurement of slender targets such as tree branches and crop side branches, the measurement of thick targets such as tree trunks and crop main stems, and the measurement of crown width, so as to obtain plant phenotypic information. By extending the telescopic arm, the measurement range of the soft manipulator is expanded, and it is applicable to both the seedling and mature stages of plants, and has universality. The present invention integrates a crawler walking module, a flexible manipulator module, and a soft manipulator module in the form of rigid-flexible coupling, and can move in different terrains to achieve high-precision, non-destructive, and automated phenotypic information measurement of different types of plants.

[0042] This platform combines the advantages of good softness of flexible materials and high hardness of rigid materials, and designs a soft manipulator connected by a rigid skeleton. Through the flexible joints of the manipulator arm, accurate movement and positioning have been achieved, breaking through the limitations of poor adaptability of traditional rigid manipulators, and realizing non-destructive measurement of plant organs and whole-plant phenotypes. The soft manipulator adopts a two-finger wrapping form, and the soft manipulator and the sensor work together to achieve non-destructive measurement of plant phenotypic information. The manipulator can be used to accurately measure various morphological and structural parameters of plants, including plant organ phenotypic parameters (leaf thickness, tree branches, crop side branches, etc., tree trunks, crop main stems, etc.) and whole-plant phenotypic parameters (crown width). These measurements help track the growth and development of plants over time, providing more flexible and advanced tools for research.

[0043] In summary, the technical solution provided by the present invention has the following beneficial effects compared with the prior art:

[0044] (1) The present invention designs a rigid-flexible coupling robotic arm plant phenotypic information measurement platform. The flexible robotic arm module can accurately control the position and direction to perform efficient and large-scale phenotypic detection. By further designing the flexible joints of the robotic arm, the vibration generated when the robotic arm moves is reduced, and damage to the plant during manual collection of plant phenotypic information is avoided, thereby achieving high-precision and high-efficiency measurement of plant phenotypic information.

[0045] (2) The present invention designs a rigid-flexible coupling robotic arm type plant phenotypic information measurement platform, which combines the advantages of good softness of flexible materials and high hardness of rigid materials. Through the cooperation of the soft robotic arm of the flexible part and the telescopic arm of the rigid part, accurate, automatic and non-destructive measurement of plant organ phenotypic parameters (leaf thickness, tree branches, crop lateral branches, tree trunks, crop main stems, etc.) and whole plant phenotypic parameters (crown width) can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is the main view of the platform.

[0047] Figure 2 This is the left view of the platform.

[0048] Figure 3 This is a schematic diagram of the structure of the robotic arm rotating seat.

[0049] Figure 3 (a) is the front view of the robot arm rotating seat.

[0050] Figure 3 (b) is Figure 3 (a) Schematic diagram of the AA section of the robot arm rotating base;

[0051] Figure 4 This is a schematic diagram of the appearance of the robotic arm rotating seat.

[0052] Figure 5 Schematic diagram of the cross-section of the flexible joint of the robotic arm.

[0053] Figure 6 This is a top view of the flexible joint of the robotic arm.

[0054] Figure 7 This is the left view of the flexible joint of the robotic arm.

[0055] Figure 8 Schematic diagram of the soft manipulator module structure.

[0056] Fig. 9 Schematic diagram of the extension structure of the soft manipulator module.

[0057] Fig.10 It is a schematic diagram of the index finger automatic telescopic arm or the thumb automatic telescopic arm being retracted.

[0058] Fig.11 It is a schematic diagram of the index finger automatic telescopic arm or the thumb automatic telescopic arm being extended.

[0059] Fig.12 It is a cross-sectional schematic diagram of the index finger automatic telescopic arm or the thumb automatic telescopic arm when extended.

[0060] Fig.13It is a partially enlarged cross-sectional schematic diagram of the automatic telescopic arm of the index finger or the automatic telescopic arm of the thumb when extended.

[0061] Fig.14 This is a schematic diagram of the first section of the telescopic arm.

[0062] Fig.15 This is a schematic diagram of the second section of the telescopic arm.

[0063] Fig.16 It is a schematic diagram of plant phenotype collection of the present invention.

[0064] Fig.17 Schematic diagram of the soft robot module measuring blade thickness.

[0065] Fig.18 for Fig.17 A partial enlarged view of the structure in center A.

[0066] Fig.19 Schematic diagram of the soft robot module measuring slender targets such as tree branches and crop side branches.

[0067] Fig. 20 for Fig.19 A partial enlarged view of the structure in B.

[0068] Fig.21 Schematic diagram of the soft robot module measuring large targets such as tree trunks and crop stems.

[0069] Fig. 22 for Fig.21 A partial enlarged view of the structure inside C.

[0070] Fig.23 Schematic diagram of the soft robot module measuring crown width.

[0071] Fig.24 for Fig.23 A partial enlarged view of the structure in D. DETAILED DESCRIPTION

[0072] In order to make the purpose and scheme of the present invention more clear, the technical scheme of the present invention is described clearly and completely in conjunction with the accompanying drawings. The present invention is applicable to both controlled environments and natural environments, and can work in a variety of environments such as greenhouses or the wild. It is a fast, non-destructive, and automated plant phenotypic information measurement platform.

[0073] A rigid-flexible coupling mechanical arm type plant phenotypic information measurement platform comprises a controller, a crawler walking module 100, a flexible mechanical arm module 200 and a soft manipulator module 300.

[0074] like Figure 1-2As shown, the crawler walking module 100 includes a crawler walking device 101 and a robotic arm rotating seat 102 for driving the flexible robotic arm module 200 to rotate; the crawler walking device 101 is connected to the flexible robotic arm module 200 through the robotic arm rotating seat 102; the flexible robotic arm module 200 is connected to the soft robotic arm module 300.

[0075] like Figure 3-4 As shown, the robot arm rotating seat 102 includes a driving mechanism 5 1021, a harmonic reducer 1022, a connecting shaft 1023, an elastic coupling 1024, a robot arm bottom transmission shaft 1025, a spline 1026, a spur gear shaft 1027, a bearing 2 1028, a bearing 1029, an inner ring 1030, a robot arm fixed base 1031, a robot arm rotating base 1032 and a base cover 1033.

[0076] The output shaft of the driving mechanism 5 1021 is connected to the harmonic reducer 1022, the harmonic reducer 1022 is connected to the connecting shaft 1023, the connecting shaft 1023 is connected to the transmission shaft 1025 at the bottom of the robot arm through the elastic coupling 1024, the transmission shaft 1025 at the bottom of the robot arm is connected to the spur gear shaft 1027 through the spline 1026, the spur gear shaft 1027 passes through the through hole at the bottom of the robot arm fixed base 1031 and is rotatably connected to the robot arm fixed base 1031 through the bearing 2 1028, and the spur gear shaft 1027 is connected to the robot arm fixed base 1031 through the bearing 2 1028. The shaft 1027 is meshed with the inner gear ring 1030, and the inner gear ring 1030 is connected to the robot arm rotating seat 1032. The robot arm rotating seat 1032 is rotatably connected to the robot arm fixed base 1031 through a bearing 1029, and the top of the robot arm rotating seat 1032 is located outside the top through hole of the robot arm fixed base 1031. The bottom of the robot arm fixed base 1031 is connected to the base cover 1033 by bolts, and the base cover 1033 and the driving mechanism 5 1021 are both connected to the crawler walking device 101 by bolts.

[0077] The output shaft of the driving mechanism 5 1021 coincides with the axis of the transmission shaft 1025 at the bottom of the robot arm and the spur gear shaft 1027. The driving mechanism 5 1021, i.e., the motor rotates, and the robot arm rotating seat 1032 can rotate around the axis. The robot arm rotating seat 102 is used to realize the rotation of the robot arm rotating seat 1032, so that the flexible robot arm module 200 can rotate, which is convenient for obtaining plant phenotypic information from multiple angles and in all directions through the rotation angle.

[0078] The flexible robot arm module 200 includes a first robot arm 201, a second robot arm 202, a robot arm end arm 203 and a robot arm flexible joint 204. Figure 1As shown, the robot arm rotating seat 102 is connected to the robot arm first arm 201 through the robot arm flexible joint 204, the robot arm first arm 201 is connected to the robot arm second arm 202 through the robot arm flexible joint 204, the robot arm second arm 202 is connected to the robot arm end arm 203 through the robot arm flexible joint 204, and the robot arm end arm 203 is connected to the rotating motor 301 through the connecting seat 205.

[0079] like Figure 5-7 As shown, the flexible joint 204 of the robotic arm includes a driving mechanism seven 2041, a motor box 2042, a harmonic reducer two 2043, a flexible joint output shaft 2044, a bearing three 2045, an elastic coupling two 2046, a spring connecting seat 2047, a spring 2048, a spline two 2049, a connecting piece 2050 and a joint housing 2051.

[0080] The driving mechanism seven 2041 is connected to the motor box 2042 by bolts, and the output shaft of the driving mechanism seven 2041 is connected to the flexible joint output shaft 2044 through the harmonic reducer two 2043, and the flexible joint output shaft 2044 is rotatably connected to the motor box 2042 through the bearing three 2045. The other end of the flexible joint output shaft 2044 extends outward from the reserved hole at the rear end of the motor box 2042 and is connected to the spring connecting seat 2047 through the elastic coupling two 2046. The spring connecting seat 2047 is provided with a spring 2048, which is elastic. The spring connecting seat 2047 is connected to the connecting piece 2050 through the spline two 2049, and the connecting piece 2050 is connected to the joint housing 2051 by bolts. The elastic coupling two 2046 and the spring connecting seat 2047 are located in the inner hole of the joint housing 2051. The main function of the spring connection seat 2047 (such as the spring seat) is to buffer the force transmitted from the driving mechanism 7 2041, thereby reducing vibration.

[0081] The motor box 2042 is connected to the robot arm rotating seat 102, the first arm 201 of the robot arm or the second arm 202 of the robot arm; the joint housing 2051 is connected to the first arm 201 of the robot arm, the second arm 202 of the robot arm or the end arm 203 of the robot arm.

[0082] The driving mechanism seven 2041 is electrically connected to the controller.

[0083] The flexible joint 204 of the robotic arm also includes an oil seal 2052, a bearing end cover 2053 and a joint end cover 2054. The bearing end cover 2053 is connected to the rear end of the motor box 2042 by bolts. The rear end of the bearing end cover 2053 is located in the inner hole of the joint housing 2051. An oil seal 2052 is provided between the bearing end cover 2053 and the inner wall of the joint housing 2051. The top of the motor box 2042 is connected to the motor cover 2055 by bolts.

[0084] The driving mechanism 7 2041 adopts a servo motor.

[0085] The soft manipulator module 300 includes a rotating motor 301 and a soft manipulator assembly; the arm end arm 203 is connected to the rotating motor 301 through a connecting seat 205. Figure 8-9 The soft manipulator assembly includes an index finger assembly 302, a thumb assembly 303, a soft pad 304 and a connecting seat 305.

[0086] After the sensor obtains the plant position information, the soft manipulator module 300 can be flexibly rotated to take a suitable angle for measurement. The soft pad 304 connects the index finger component 302 and the thumb component 303, and is also the flexible part of the present invention. When the soft manipulator module 300 is measuring, it ensures that the plant is not damaged, and realizes non-destructive operation of the phenotypic information collection process.

[0087] like Figure 8-9 As shown, the index finger component 302 includes an index finger automatic telescopic arm, an index finger connecting joint 3021 and an index finger terminal joint 3022, the terminal end of the index finger automatic telescopic arm is rotatably connected to the index finger connecting joint 3021 and a driving mechanism 1 3023 for driving the index finger connecting joint 3021 to rotate is provided on the index finger automatic telescopic arm, the index finger connecting joint 3021 is rotatably connected to the index finger terminal joint 3022 and a driving mechanism 2 3024 for driving the index finger terminal joint 3022 to rotate is provided on the index finger connecting joint 3021; ​​the driving mechanism 1 3023 is connected to the index finger automatic telescopic arm, and the output end of the driving mechanism 1 3023 is connected to the index finger connecting joint 3021 for driving the index finger connecting joint 3021 to rotate; the driving mechanism 2 3024 is connected to the index finger connecting joint 3021, and the output end of the driving mechanism 2 3024 is connected to the index finger connecting joint 3022 for driving the index finger terminal joint 3022 to rotate.

[0088] like Figure 8-9As shown, the thumb assembly 303 includes an automatic thumb telescopic arm, a thumb connecting joint 3031 and a thumb terminal joint 3032, the terminal end of the automatic thumb telescopic arm is rotatably connected to the thumb connecting joint 3031 and a driving mechanism three 3033 for driving the thumb connecting joint 3031 to rotate is provided on the automatic thumb telescopic arm, the thumb connecting joint 3031 is rotatably connected to the thumb terminal joint 3032 and a driving mechanism four 3034 for driving the thumb terminal joint 3032 to rotate is provided on the thumb connecting joint 3031; the driving mechanism three 3033 is connected to the automatic thumb telescopic arm, the output end of the driving mechanism three 3033 is connected to the thumb connecting joint 3031, and is used to drive the thumb connecting joint 3031 to rotate; the driving mechanism four 3034 is connected to the thumb connecting joint 3031, and the output end of the driving mechanism four 3034 is connected to the thumb terminal joint 3032, and is used to drive the thumb terminal joint 3032 to rotate.

[0089] The output end of the rotating motor 301 is connected to the connecting seat 1 305; the connecting seat 1 305 is also connected to the index finger automatic telescopic arm and the thumb automatic telescopic arm, and a soft pad 304 is connected between the index finger automatic telescopic arm and the thumb automatic telescopic arm.

[0090] The index finger connecting joint 3021, the thumb connecting joint 3031, the index finger terminal joint 3022 and the thumb terminal joint 3032 are made of flexible material and are the flexible parts of the present invention.

[0091] The thumb automatic telescopic arm has the same structure as the index finger automatic telescopic arm. Figure 10-15 As shown, the six telescopic arms 3026, the first telescopic arm 3026, the second telescopic arm 3027, the telescopic arm rack 3028 and the transmission gear 3029 are included in the six drive mechanisms 3025, which are connected to the second telescopic arm 3027, and the output shaft of the six drive mechanisms 3025 is connected to the transmission gear 3029, which is meshed with the telescopic arm rack 3028, and the telescopic arm rack 3028 is connected to the first telescopic arm 3026, and one end of the second telescopic arm 3027 is located inside the first telescopic arm 3026, and the two are slidably connected by the slide rail 3030 to ensure the stability of telescopic movement. After the six drive mechanisms 3025 are started, the transmission gear 3029 is driven to rotate, and the transmission gear 3029 is meshed with the telescopic arm rack 3028 to drive the telescopic movement between the first telescopic arm 3026 and the second telescopic arm 3027 of the thumb.

[0092] The first telescopic arm 3026 and the second telescopic arm 3027 are made of rigid material and are the rigid parts of the present invention.

[0093] The driving mechanism 1 3023, the driving mechanism 2 3024, the driving mechanism 3 3033, the driving mechanism 4 3034 and the driving mechanism 6 3025 use stepper motors; the driving mechanism 5 1021 uses a servo motor.

[0094] The surfaces of the index finger terminal joint 3022, the thumb terminal joint 3032 and the soft pad 304 are arranged with sensor one and sensor two, and the sensor one and sensor two are electrically connected to the controller, and the controller is also electrically connected to the drive mechanism five 1021 in the robot arm rotating seat 102, the drive mechanism six 3025 in the index finger automatic telescopic arm, the drive mechanism six 3025 in the thumb automatic telescopic arm, the drive mechanism one 3023, the drive mechanism two 3024, the drive mechanism three 3033 and the drive mechanism four 3034.

[0095] The sensor one is used to detect whether it is in contact with the plant surface and send a signal to the controller, the sensor two is used to detect the distance and send a signal to the controller, and the controller is used to control the driving mechanism five 1021 in the robotic arm rotating seat 102, the driving mechanism six 3025 in the index finger automatic telescopic arm, the driving mechanism seven 3035 in the thumb automatic telescopic arm, the driving mechanism one 3023, the driving mechanism two 3024, the driving mechanism three 3033 and the driving mechanism four 3034 to work.

[0096] The sensor 1 is a fiber grating sensor, which is arranged at the fingertip of the index finger end joint 3022, the fingertip of the thumb end joint 3032 and on the soft pad 304.

[0097] The second sensor includes a self-inductive inductive sensor and a metal object (metal sheet). The self-inductive inductive sensor is arranged at the fingertip of the distal joint 3022 of the index finger, and the metal object is arranged at the fingertip of the distal joint 3032 of the thumb and on the soft pad 304 .

[0098] The soft manipulator module 300 integrates multiple sensors to achieve non-destructive tactile measurement of plant phenotypes. The fiber grating sensor has good flexibility, is highly sensitive to pressure and shear force, and can accurately sense the sliding direction and position of an object. Ensure that the mechanical finger is in contact with the plant surface to provide more comprehensive tactile feedback. The fiber grating sensor is arranged at the fingertip of the index finger end joint 3022, the fingertip of the thumb end joint 3032, and the soft pad 304 to achieve multi-point distributed tactile feedback. The self-inductive inductive sensor calculates the distance by detecting the metal object and generating an inductance change. The self-inductive inductive sensor is installed at the fingertip of the index finger end joint 3022, and the metal sheet is installed at the fingertip of the thumb end joint 3032 and the soft pad 304, and the distance can be measured. The fiber grating sensor can realize the tactile perception of the manipulator, stop moving after contacting the plant to be measured, and the self-inductive inductive sensor can directly obtain the distance after calibration. Through cooperation, the soft manipulator module 300 can be used to measure plant phenotypic parameters.

[0099] This embodiment also provides a measurement method of a rigid-flexible coupling mechanical arm type plant phenotype information measurement platform, comprising:

[0100] The image acquisition module acquires image information of the trunk to be measured and sends the image information to the controller. The controller determines the position of the target to be measured according to the image information. The controller controls the driving mechanism five 1021 in the mechanical arm rotating seat 102 to move so that the soft manipulator module 300 faces the target to be measured. The controller controls the driving mechanism seven 2041 in the multiple mechanical arm flexible joints 204 in the flexible mechanical arm module 200 to move so that the soft manipulator module 300 moves to the position of the target to be measured.

[0101] If the target to be measured is the thickness of the leaf, the controller controls the driving mechanism 1 3023, the driving mechanism 2 3024, the driving mechanism 3 3033 and the driving mechanism 4 3034 in the soft manipulator module 300 to move respectively, and then controls the index finger connecting joint 3021, the index finger end joint 3022, the thumb connecting joint 3031 and the thumb end joint 3032 to rotate respectively, so that the tip of the index finger end joint 3022 and the tip of the thumb end joint 3032 clamp the leaf surface to be measured, when the fiber grating sensor at the tip of the index finger end joint 3022 and the thumb end joint 3032 When the fiber grating sensors at the fingertips touch the surface of the blade to be measured, the fiber grating sensors send a signal to the controller, and the controller controls the driving mechanism 1 3023, the driving mechanism 2 3024, the driving mechanism 3 3033 and the driving mechanism 4 3034 to stop moving. At this time, the self-inductive inductance sensor at the fingertip of the index finger terminal joint 3022 detects the metal object at the fingertip of the thumb terminal joint 3032 and sends a signal to the controller, thereby measuring the thickness of the blade surface to be measured; before measurement, the system is calibrated using a standard object of known size to establish the relationship between the inductance change and the distance.

[0102] If the target to be measured is a slender target such as a tree branch or a crop branch, that is, if the target to be measured is the diameter of the slender target, the controller controls the action of the driving mechanism 1 3023 and the driving mechanism 2 3024 in the soft manipulator module 300, respectively, and then controls the rotation of the index finger connecting joint 3021 and the index finger terminal joint 3022, respectively, so that the index finger connecting joint 3021 and the index finger terminal joint 3022 surround the slender target to be measured, and when the fiber grating sensor on the soft pad 304 and the fiber grating sensor at the fingertip of the index finger terminal joint 3022 both touch the slender target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1 3023 and the driving mechanism 2 3024 to stop the action, and at this time, the self-inductive inductance sensor at the fingertip of the index finger terminal joint 3022 detects the metal object on the soft pad 304 and sends a signal to the controller, and then the diameter of the slender target to be measured is measured;

[0103] If the target to be measured is a large target such as a tree trunk or a crop stem, that is, if the target to be measured is a large target diameter, the controller controls the actions of the drive mechanism 1 3023, the drive mechanism 2 3024, the drive mechanism 3 3033, and the drive mechanism 4 3034 in the soft manipulator module 300, respectively, and then controls the index finger connecting joint 3021, the index finger terminal joint 3022, the thumb connecting joint 3031, and the thumb terminal joint 3032 to rotate, respectively, so that the index finger terminal joint 3022 and the thumb terminal joint 3032 clamp the large target to be measured. When the fiber grating sensor at the fingertip of the end joint 3022 and the fiber grating sensor at the fingertip of the thumb end joint 3032 both touch the bulky target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1 3023, the driving mechanism 2 3024, the driving mechanism 3 3033 and the driving mechanism 4 3034 to stop moving. At this time, the self-inductive inductive sensor at the fingertip of the index finger end joint 3022 detects the metal object at the fingertip of the thumb end joint 3032 and sends a signal to the controller, thereby measuring the diameter of the bulky target to be measured;

[0104] If the target to be measured is a crown width, the controller controls the driving mechanism six 3025 in the thumb automatic telescopic arm and the index finger automatic telescopic arm in the soft manipulator module 300 to move, and the thumb automatic telescopic arm and the index finger automatic telescopic arm are extended to the maximum or preset position to expand the measurement range of the soft manipulator. The controller then controls the driving mechanism one 3023, the driving mechanism two 3024, the driving mechanism three 3033 and the driving mechanism four 3034 to move, and then controls the index finger connecting joint 3021, the index finger end joint 3022, the thumb connecting joint 3031 and the thumb end joint 3032 to rotate, so that the index finger connecting joint 3021, the index finger end joint 3022, the thumb connecting joint 3031 and the thumb end joint 3032 envelop the target to be measured. When the fiber grating sensor at the fingertip of the index finger end joint 3022 and the thumb end joint 3032 are When the fiber grating sensors at the fingertips of the terminal joints 3032 all touch the target to be measured, the fiber grating sensors send signals to the controller, and the controller controls the driving mechanism 1 3023, the driving mechanism 2 3024, the driving mechanism 3 3033 and the driving mechanism 4 3034 to stop the action, that is, stop further enveloping, and start measuring. At this time, the self-inductive inductance sensor at the fingertips of the terminal joints 3022 of the index finger measures the metal object at the fingertips of the terminal joints 3032 of the thumb and sends a signal to the controller, thereby measuring the crown width of the target to be measured. The crown width of this embodiment can also be obtained by measuring the distances in multiple directions and taking the average value.

[0105] Wherein the image acquisition module and the controller etc. can be installed on the measuring platform of the present embodiment. The signal processing software and the control software inside the controller all adopt the existing technology. The controller of the measuring platform of the present embodiment can also be wirelessly connected to the remote control device. The remote control device can control the driving motor inside the crawler walking device 101 (using the existing structure) through the controller to move, and the remote control device controls the crawler walking device 101 to walk near the target to be measured. The remote control device can also control the driving mechanism 1 3023, the driving mechanism 2 3024, the driving mechanism 3 3033, the driving mechanism 4 3034, the driving mechanism 5 1021, the driving mechanism 6 3025, and the driving mechanism 7 3035 to work through the controller. The measuring platform of the present embodiment can also be installed with a GPS module, and the GPS module is used to judge the position of itself, so as to facilitate the measurement of the crown width. Some driving mechanisms, sensors, controllers, etc. on the platform are connected with a power supply, and the power supply can be arranged on the measuring platform.

[0106] For different measurement targets and parameters to be measured, there are four working conditions when the soft manipulator module 300 collects plant phenotypic information (the first three conditions are for plant organ phenotypes, and the fourth condition is for the whole plant phenotype). Condition 1: When measuring leaf thickness, the camera (image acquisition module) locates the leaf target to be measured according to the collected image, and the thumb end joint 3032 and the index finger end joint 3022 clamp and touch the front side (also known as the upper surface, the sunny side) and the back side (also known as the lower surface, facing the ground) of the leaf for measurement; Condition 2: When measuring slender targets such as tree branches and crop side branches, after positioning, only the index finger component 302 can be moved around the target to be measured for measurement; Condition 3: When measuring thick targets such as tree trunks and crop main stems, the thumb component 303 and the index finger component 302 are used to envelop the target to be measured for measurement; Condition 4: When measuring the crown width, the telescopic arm is controlled to extend to expand the measurement range, and the thumb component 303 and the index finger component 302 cooperate to measure. The soft robot module 300 can be adapted to obtain plant phenotypic information in a variety of situations.

[0107] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A rigid-flexible coupling robotic arm plant phenotypic information measurement platform, characterized in that: It comprises a controller, a crawler-type walking module (100), a flexible mechanical arm module (200) and a soft mechanical hand module (300); The crawler-type walking module (100) comprises a crawler walking device (101) and a mechanical arm rotating seat (102) for driving the flexible mechanical arm module (200) to rotate; the crawler walking device (101) is connected to the flexible mechanical arm module (200) via the mechanical arm rotating seat (102); the flexible mechanical arm module (200) is connected to the soft mechanical arm module (300); The soft manipulator module (300) comprises a rotating motor (301) and a soft manipulator component; the soft manipulator component comprises an index finger component (302), a thumb component (303), a soft pad (304) and a connecting seat (305); The index finger assembly (302) comprises an index finger automatic telescopic arm, an index finger connecting joint (3021) and an index finger terminal joint (3022); the terminal end of the index finger automatic telescopic arm is rotatably connected to the index finger connecting joint (3021), and a first driving mechanism (3023) for driving the index finger connecting joint (3021) to rotate is provided on the index finger automatic telescopic arm; the index finger connecting joint (3021) is rotatably connected to the index finger terminal joint (3022), and a second driving mechanism (3024) for driving the index finger terminal joint (3022) to rotate is provided on the index finger connecting joint (3021); The thumb assembly (303) comprises an automatic thumb telescopic arm, a thumb connecting joint (3031) and a thumb terminal joint (3032); the terminal end of the automatic thumb telescopic arm is rotatably connected to the thumb connecting joint (3031), and a third driving mechanism (3033) for driving the thumb connecting joint (3031) to rotate is provided on the automatic thumb telescopic arm; the thumb connecting joint (3031) is rotatably connected to the thumb terminal joint (3032), and a fourth driving mechanism (3034) for driving the thumb terminal joint (3032) to rotate is provided on the thumb connecting joint (3031); The output end of the rotating motor (301) is connected to the first connecting seat (305); the first connecting seat (305) is connected to the index finger automatic telescopic arm and the thumb automatic telescopic arm at the same time, and a soft pad (304) is connected between the index finger automatic telescopic arm and the thumb automatic telescopic arm; The index finger end joint (3022) and the thumb end joint (3032) are made of flexible material; Sensor 1 and sensor 2 are arranged on the surfaces of the index finger end joint (3022), the thumb end joint (3032) and the soft pad (304); the sensor 1 and sensor 2 are both electrically connected to a controller; and the controller is also electrically connected to a drive mechanism 5 (1021) in the mechanical arm rotating seat (102), a drive mechanism 6 (3025) in the index finger automatic telescopic arm, a drive mechanism 6 (3025) in the thumb automatic telescopic arm, a drive mechanism 1 (3023), a drive mechanism 2 (3024), a drive mechanism 3 (3033) and a drive mechanism 4 (3034); The sensor 1 is used to detect whether it is in contact with the plant surface and send a signal to the controller, the sensor 2 is used to detect the distance and send a signal to the controller, and the controller is used to control the drive mechanism 5 (1021) in the mechanical arm rotating seat (102), the drive mechanism 6 (3025) in the index finger automatic telescopic arm, the drive mechanism 7 (3035) in the thumb automatic telescopic arm, the drive mechanism 1 (3023), the drive mechanism 2 (3024), the drive mechanism 3 (3033) and the drive mechanism 4 (3034) to work.

2. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 1, characterized in that: The mechanical arm rotating seat (102) comprises a driving mechanism five (1021), a harmonic reducer one (1022), a connecting shaft (1023), an elastic coupling one (1024), a mechanical arm bottom transmission shaft (1025), a spline one (1026), a spur gear shaft (1027), a bearing two (1028), a bearing one (1029), an inner gear ring (1030), a mechanical arm fixed base (1031), a mechanical arm rotating base (1032) and a base cover plate (1033); The output shaft of the driving mechanism five (1021) is connected to the harmonic reducer one (1022), the harmonic reducer one (1022) is connected to the connecting shaft (1023), the connecting shaft (1023) is connected to the transmission shaft (1025) at the bottom of the mechanical arm through the elastic coupling one (1024), the transmission shaft (1025) at the bottom of the mechanical arm is connected to the spur gear shaft (1027) through the spline one (1026), the spur gear shaft (1027) passes through the through hole at the bottom of the mechanical arm fixed base (1031) and is rotatably connected to the mechanical arm fixed base (1031) through the bearing two (1028), and the spur gear shaft (1027) is connected to the mechanical arm fixed base (1031) through the bearing two (1028). The shaft (1027) is meshed with the inner gear ring (1030), and the inner gear ring (1030) is connected to the mechanical arm rotating seat (1032). The mechanical arm rotating seat (1032) is rotatably connected to the mechanical arm fixed base (1031) through a bearing 1 (1029), and the top of the mechanical arm rotating seat (1032) is located outside the top through hole of the mechanical arm fixed base (1031). The bottom of the mechanical arm fixed base (1031) is connected to the base cover (1033) through bolts, and the base cover (1033) and the driving mechanism 5 (1021) are both connected to the crawler walking device (101) through bolts.

3. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 2, characterized in that: The flexible robot arm module (200) comprises a first robot arm arm (201), a second robot arm arm (202), a robot arm end arm (203) and a robot arm flexible joint (204); the robot arm rotating seat (102) is connected to the first robot arm arm (201) via the robot arm flexible joint (204); the first robot arm arm (201) is connected to the second robot arm arm (202) via the robot arm flexible joint (204); the second robot arm arm (202) is connected to the robot arm end arm (203) via the robot arm flexible joint (204); and the robot arm end arm (203) is connected to the rotating motor (301) via a second connecting seat (205); The mechanical arm flexible joint (204) comprises a driving mechanism seven (2041), a motor box (2042), a harmonic reducer two (2043), a flexible joint output shaft (2044), a bearing three (2045), a flexible coupling two (2046), a spring connection seat (2047), a spring (2048), a spline two (2049), a connecting piece (2050) and a joint housing (2051); The drive mechanism seven (2041) is connected to the motor box (2042) by bolts, the output shaft of the drive mechanism seven (2041) is connected to the flexible joint output shaft (2044) through the harmonic reducer two (2043), the flexible joint output shaft (2044) is rotatably connected to the motor box (2042) through the bearing three (2045), and the other end of the flexible joint output shaft (2044) protrudes outward from the reserved hole at the rear end of the motor box (2042) and passes through The second elastic coupling (2046) is connected to the spring connection seat (2047), a spring (2048) is arranged on the spring connection seat (2047), the spring connection seat (2047) is connected to the connecting piece (2050) via the second spline (2049), the connecting piece (2050) is connected to the joint housing (2051) via bolts, and the second elastic coupling (2046) and the spring connection seat (2047) are located in the inner hole of the joint housing (2051); The motor box (2042) is connected to the mechanical arm rotating seat (102), the first arm rod (201) of the mechanical arm, or the second arm rod (202) of the mechanical arm; the joint housing (2051) is connected to the first arm rod (201) of the mechanical arm, the second arm rod (202) of the mechanical arm, or the end arm rod (203) of the mechanical arm; The driving mechanism seven (2041) is electrically connected to the controller.

4. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 3, characterized in that: The mechanical arm flexible joint (204) further comprises an oil seal (2052), a bearing end cover (2053) and a joint end cover (2054); the bearing end cover (2053) is connected to the rear end of the motor box (2042) by bolts; the rear end of the bearing end cover (2053) is located in the inner hole of the joint housing (2051); an oil seal (2052) is provided between the bearing end cover (2053) and the inner wall of the joint housing (2051); the top of the motor box (2042) is connected to a motor cover (2055) by bolts; The driving mechanism seven (2041) adopts a servo motor.

5. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 3, characterized in that: The thumb automatic telescopic arm has the same structure as the index finger automatic telescopic arm, and both include a driving mechanism six (3025), a first telescopic arm (3026), a second telescopic arm (3027), a telescopic arm rack (3028) and a transmission gear (3029); the driving mechanism six (3025) is connected to the second telescopic arm (3027); the output shaft of the driving mechanism six (3025) is connected to the transmission gear (3029); the transmission gear (3029) is meshed with the telescopic arm rack (3028); the telescopic arm rack (3028) is connected to the first telescopic arm (3026); one end of the second telescopic arm (3027) is located on the inner side of the first telescopic arm (3026), and the two are slidably connected via a slide rail (3030); The first telescopic arm (3026) and the second telescopic arm (3027) are made of rigid material.

6. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 1, characterized in that: The driving mechanism 1 (3023) is connected to the index finger automatic telescopic arm, and the output end of the driving mechanism 1 (3023) is connected to the index finger connection joint (3021); the driving mechanism 2 (3024) is connected to the index finger connection joint (3021), and the output end of the driving mechanism 2 (3024) is connected to the index finger terminal joint (3022); the driving mechanism 3 (3033) is connected to the thumb automatic telescopic arm, and the output end of the driving mechanism 3 (3033) is connected to the thumb connection joint (3031); the driving mechanism 4 (3034) is connected to the thumb connection joint (3031), and the output end of the driving mechanism 4 (3034) is connected to the thumb terminal joint (3032); The index finger connecting joint (3021) and the thumb connecting joint (3031) are made of flexible material.

7. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 6, characterized in that: The driving mechanism one (3023), driving mechanism two (3024), driving mechanism three (3033), driving mechanism four (3034) and driving mechanism six (3025) adopt stepper motors; the driving mechanism five (1021) adopts a servo motor.

8. The rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 5, characterized in that: The first sensor is a fiber grating sensor, and the fiber grating sensor is arranged at the fingertip of the index finger end joint (3022), the fingertip of the thumb end joint (3032) and on the soft pad (304); The second sensor comprises a self-inductive inductive sensor and a metal object, wherein the self-inductive inductive sensor is arranged at the fingertip of the distal joint (3022) of the index finger, and the metal object is arranged at the fingertip of the distal joint (3032) of the thumb and on the soft pad (304).

9. A measurement method based on the rigid-flexible coupling mechanical arm plant phenotypic information measurement platform according to claim 8, characterized in that: include: The image acquisition module acquires image information of the trunk to be measured and sends the image information to the controller. The controller determines the position of the target to be measured based on the image information. The controller controls the driving mechanism five (1021) in the mechanical arm rotating seat (102) to move so that the soft mechanical arm module (300) faces the target to be measured. The controller controls the driving mechanism seven (2041) in the plurality of mechanical arm flexible joints (204) in the flexible mechanical arm module (200) to move so that the soft mechanical arm module (300) moves toward the position of the target to be measured. If the target to be measured is the thickness of a leaf, the controller controls the driving mechanism 1 (3023), the driving mechanism 2 (3024), the driving mechanism 3 (3033) and the driving mechanism 4 (3034) in the soft manipulator module (300) to move, and then controls the index finger connecting joint (3021), the index finger end joint (3022), the thumb connecting joint (3031) and the thumb end joint (3032) to rotate, so that the tip of the index finger end joint (3022) and the tip of the thumb end joint (3032) clamp the leaf surface to be measured, and when the index finger end joint (3021) is moved, the thumb end joint (3032) is moved. 22) When the fiber grating sensor at the fingertip and the fiber grating sensor at the fingertip of the thumb end joint (3032) both touch the leaf surface of the leaf to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1 (3023), the driving mechanism 2 (3024), the driving mechanism 3 (3033) and the driving mechanism 4 (3034) to stop moving. At this time, the self-inductive inductance sensor at the fingertip of the index finger end joint (3022) detects the metal object at the fingertip of the thumb end joint (3032) and sends a signal to the controller, thereby measuring the leaf surface thickness of the leaf to be measured; If the target to be measured is the diameter of a tree trunk or a side branch of a crop, the controller controls the action of the first drive mechanism (3023) and the second drive mechanism (3024) in the soft manipulator module (300), and further controls the rotation of the index finger connecting joint (3021) and the index finger terminal joint (3022), so that the index finger connecting joint (3021) and the index finger terminal joint (3022) surround the target to be measured. When the fiber grating sensor on the soft pad (304) and the fiber grating sensor at the fingertip of the index finger terminal joint (3022) both touch the target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the first drive mechanism (3023) and the second drive mechanism (3024) to stop moving. At this time, the self-inductive sensor at the fingertip of the index finger terminal joint (3022) detects the metal object on the soft pad (304) and sends a signal to the controller, thereby measuring the diameter of the target to be measured. If the target to be measured is the trunk diameter of a tree or the main stem diameter of a crop, the controller controls the actions of the drive mechanism 1 (3023), the drive mechanism 2 (3024), the drive mechanism 3 (3033) and the drive mechanism 4 (3034) in the soft manipulator module (300), respectively, and then controls the rotation of the index finger connecting joint (3021), the index finger end joint (3022), the thumb connecting joint (3031) and the thumb end joint (3032), respectively, so that the fingertips of the index finger end joint (3022) and the thumb end joint (3032) clamp the target to be measured. When the fiber grating sensor at the fingertip of the joint (3022) and the fiber grating sensor at the fingertip of the thumb end joint (3032) both touch the target to be measured, the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1 (3023), the driving mechanism 2 (3024), the driving mechanism 3 (3033) and the driving mechanism 4 (3034) to stop moving. At this time, the self-inductive inductance sensor at the fingertip of the index finger end joint (3022) detects the metal object at the fingertip of the thumb end joint (3032) and sends a signal to the controller, thereby measuring the diameter of the target to be measured; If the target to be measured is a crown width, the controller controls the driving mechanism six (3025) in the thumb automatic telescopic arm and the index finger automatic telescopic arm in the soft manipulator module (300) to move, so that the thumb automatic telescopic arm and the index finger automatic telescopic arm extend, and the controller then controls the driving mechanism one (3023), the driving mechanism two (3024), the driving mechanism three (3033) and the driving mechanism four (3034) to move, and further controls the index finger connecting joint (3021), the index finger terminal joint (3022), the thumb connecting joint (3031) and the thumb terminal joint (3032) to rotate, so that the index finger connecting joint (3021), the index finger terminal joint (3022), the thumb connecting joint (3031) and the thumb terminal joint (3032) are respectively moved. The fiber grating sensor at the fingertip of the index finger end joint (3022) and the fiber grating sensor at the fingertip of the thumb end joint (3032) both touch the target to be measured, and the fiber grating sensor sends a signal to the controller, and the controller controls the driving mechanism 1 (3023), the driving mechanism 2 (3024), the driving mechanism 3 (3033) and the driving mechanism 4 (3034) to stop the action. At this time, the self-inductive inductance sensor at the fingertip of the index finger end joint (3022) detects the metal object at the fingertip of the thumb end joint (3032) and sends a signal to the controller, thereby measuring the crown width of the target to be measured.

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