Adjustable single-shaft flexible rope swinging flower thinning machine and method

Abstract

The invention discloses an adjustable single-shaft flexible rope swinging flower thinning machine and method, and the method comprises the steps: sensing the density and position distribution information of flowers of a fruit tree in advance through a binocular vision sensor, and adjusting the rotating speed of a flower thinning shaft in real time according to the obtained density of the flowers; according to the obtained position distribution information of the flowers, the front-back distance and the left-right distance between the flower thinning machine and the flowers are adjusted in real time, the adaptability of the flower thinning machine and a tree structure is improved, the flower thinning machine can reduce the artificial flower thinning economic cost under the condition that a tree body is not damaged and the result is not affected, and the problem that the flower thinning effect of a traditional flower thinning machine is poor is solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and in particular to an adjustable single-axis flexible rope swinging flower thinning machine and method for fruit tree flower thinning operations. More specifically, it relates to a flower thinning machine for arbor fruit trees such as apple trees, pear trees, and peach trees. Background Technology

[0002] Flower thinning is a crucial step in fruit tree cultivation. Its core objective is to control the number of fruits, maintain a reasonable fruit load, reduce the burden on the trees, and improve fruit quality. Fruit tree flower thinning machines, as important tools for regulating the amount of flowers and balancing the tree's nutrient supply, are essential for improving fruit set rate and ensuring high-quality, high-yield fruit. Among related technologies, single-axis flower thinning machines cannot adjust the distance between the thinning axis and the tree, have poor adaptability to tree structures, and cannot accurately locate the thinning position, easily leading to problems such as excessive or insufficient thinning. Furthermore, they suffer from poor recognition and low positioning accuracy in acquiring information about the density and distribution of fruit flowers. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide an adjustable single-axis flexible rope-driven flower thinning machine and method. By incorporating binocular vision sensors to pre-detect the density and positional distribution of fruit tree flowers, the machine adjusts the rotational speed of the thinning shaft in real time based on the flower density. Furthermore, based on the flower positional distribution information, the machine adjusts the front-to-back and left-to-right spacing between the thinning machine and the flowers in real time. This improves the adaptability of the thinning machine to tree structures, enabling it to reduce the economic cost of manual flower thinning without damaging the tree or affecting fruit production, thus solving the problem of poor flower thinning results with traditional thinning machines.

[0004] To achieve the above objectives, this invention provides an adjustable single-axis flexible rope-driven flower thinning machine and method. By rationally thinning flowers, it regulates the fruit set of fruit trees, ensuring fruit quality and increasing the peak fruiting period of the trees. This invention is achieved through the following technical solution: In a first aspect, the present invention provides an airborne adjustable single-axis flexible rope swinging cotton thinning machine, comprising a movable body, on which a cotton thinning device, a binocular vision sensor system and a central processing unit are provided; the cotton thinning device includes a cotton thinning shaft mounting bracket, a telescopic structure, an arc-shaped guide rail mechanism and a cotton thinning machine main shaft mechanism. A telescopic device is installed at each end of the flower-ploughing shaft mounting bracket; each telescopic device is connected to an arc-shaped guide rail mechanism, and the two telescopic devices are used to control the distance between the flower-ploughing shaft mounting bracket and the arc-shaped guide rail mechanism; a flower-ploughing machine main shaft mechanism is arranged between the two arc-shaped guide rail mechanisms; the flower-ploughing machine main shaft mechanism moves along the arc-shaped guide rail mechanism; the flower-ploughing machine main shaft includes a flower-ploughing shaft, a flower-ploughing rope, a flower-ploughing rope mounting joint, a gear, an upper slide plate, a lower slide plate, a speed sensor, a hydraulic motor, and a motor; one end of the flower-ploughing shaft is rotatably connected to the upper slide plate, and the other end is rotatably connected to the lower slide plate; a motor is installed on the top of the upper slide plate, and a gear is installed on the output shaft of the motor, the gear meshing with an arc-shaped rack; the lower end of the flower-ploughing shaft is connected to the hydraulic motor, and the hydraulic motor is fixed to the upper end of the lower slide plate; multiple rows of flower-ploughing ropes are assembled on the flower-ploughing shaft; the speed sensor detects the speed of the motor.

[0005] The binocular vision sensor system is installed at the front end of the mobile body along the forward direction of the mobile body to acquire flower images in the work area; The central processing unit controls the telescopic structure, hydraulic motor, and electric motor based on the flower image acquired by the binocular vision sensor.

[0006] Furthermore, the flower spruce mounting bracket includes an onboard connector and a U-shaped frame. The onboard connector is mounted on the U-shaped frame to enable the flower spruce mounting bracket to be installed on the mobile body.

[0007] Furthermore, the telescopic structure includes a linear guide rail section and a hydraulic cylinder. The linear guide rail section includes a guide rail, a slider, and a guide rail mounting bracket. The guide rail is fixed on the guide rail mounting bracket, and the slider is fixed to the end of the U-shaped frame. One end of the hydraulic cylinder is connected to the U-shaped frame, and the other end is connected to the guide rail mounting bracket. Furthermore, the arc-shaped guide rail mechanism includes an arc-shaped rack and an arc-shaped guide rail. The back of the arc-shaped rack is connected to the guide rail mounting bracket, the arc-shaped guide rail is fixed on the arc-shaped rack, and magnets are installed at both ends of the arc-shaped rack.

[0008] Furthermore, the openwork shaft has multiple rows of threaded holes, each row of threaded holes is staggered, and adjacent threaded holes are offset at a 30° angle. Openwork rope mounting connectors are installed on the threaded holes.

[0009] Furthermore, the other end of the basting cord mounting joint is connected to a basting cord, which is made of thermoplastic polyurethane elastomer (TPU) with a clover-shaped cross-section, reducing frictional resistance compared to a traditional circular cross-section. A bearing seat is mounted on the upper end of the basting cord shaft, and the bearing seat is fixed to the slide plate.

[0010] Furthermore, the upper sliding plate has a U-shaped structure, with a bearing mounting hole on one side and a motor mounting hole and a roller mounting hole on the other side.

[0011] Furthermore, rollers are fixed on the upper slide, and the rollers are placed in the grooves of the arc-shaped guide rail.

[0012] Furthermore, the speed sensor is fixed to the lower end of the slide plate, and the central processing unit is used to collect and process the information obtained by the binocular vision sensor and the speed sensor, and adjust the corresponding actuators.

[0013] Secondly, the present invention provides a control method for an adjustable single-axis flexible rope swing-type cotton thinning machine, which employs the adjustable single-axis flexible rope swing-type cotton thinning machine described in the first aspect, and includes the following steps: A binocular vision sensor acquires flower images of the work area, and the central processing unit combines the YOLOv12 algorithm to detect the distribution characteristics of pear blossoms. It integrates an advanced attention mechanism and an efficient feature aggregation network to achieve a balance between high accuracy and real-time performance. The attention mechanism is used as the core design framework. The feature map is divided into multiple regions through a region attention module, and the FlashAttention technology is used to optimize the memory access mode. A residual efficient layer aggregation network is introduced to enhance gradient flow and reduce optimization difficulty, effectively capturing multi-scale features of fruit tree flowers. Shallow branches can extract flower edges and texture details, while deep branches capture petal shape and spatial distribution information, and finally obtain the processed flower image. The central processing unit adjusts the distance between the flower thinning shaft and the flower thinning area by controlling the telescopic device and the motor based on the image of the flower after processing. In areas with dense flowers, the hydraulic motor is accelerated, and the rotation speed of the flower thinning shaft is monitored in real time by the speed sensor.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The adjustable single-axis flexible rope swing-type flower thinning machine of this invention can adapt to different tree structures. It can adjust the front-to-back and left-to-right distance between the flower thinner and the fruit tree in real time, and can precisely position the flower thinner to the optimal working position according to the actual growth of the fruit tree, ensuring that all flowers that need to be thinned are effectively processed, greatly improving the accuracy and comprehensiveness of the flower thinning operation. Simultaneously, a speed sensor is installed on the flower thinner to obtain the rotational speed of the flower thinning shaft in real time. The design of the flower thinning rope has also been deeply optimized in this invention. Its cross-sectional shape abandons the traditional circular design and innovatively adopts a five-leaf clover shape, effectively reducing the frictional resistance between the flower thinning rope and the flowers and branches during the swinging process, making the movement of the flower thinning rope smoother and more efficient. This not only reduces energy loss but also extends the service life of the flower thinning rope, further improving the overall performance and operating efficiency of the flower thinner.

[0015] 2. The adjustable single-axis flexible rope swinging flower thinning method of this invention relies on the effective perception of a binocular vision sensor, enabling comprehensive and high-precision perception of orchard environmental information, including the location, shape, and flower distribution of fruit trees. Based on this perceived data, the central processing unit performs precise planning to determine the optimal movement path of the flower thinning machine and the swinging parameters of the flower thinning rope. During the execution phase, the adjustable single-axis flexible rope swinging mechanism accurately moves according to the planned instructions, achieving precise flower thinning. A real-time feedback mechanism continuously monitors the rotational parameters during the flower thinning process; once a deviation is detected, the movement state of the flower thinning machine and the movement of the flower thinning rope are immediately adjusted to ensure that the flower thinning operation always proceeds according to the predetermined goal. Attached Figure Description

[0016] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0017] Figure 1 This is a front view of the adjustable flower thinning machine in an embodiment of the present invention.

[0018] Figure 2 This is a top view of the adjustable flower thinning machine in an embodiment of the present invention.

[0019] Figure 3 This is a partial view of the openwork axis in an embodiment of the present invention.

[0020] Figure 4 This is a partial view of the adjustable flower thinning machine in a shortened state according to an embodiment of the present invention.

[0021] Figure 5 This is a partial view of the adjustable flower thinning machine in its extended state according to an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram illustrating the working principle of the adjustable flower thinning machine in an embodiment of the present invention.

[0023] The diagram labels are as follows: 1. Flower baling shaft mounting bracket; 11. U-shaped frame; 12. Onboard connector; 2. Flower baling machine telescopic mechanism; 21. Hydraulic cylinder; 22. Linear guide rail; 23. Slider; 24. Guide rail mounting bracket; 3. Arc-shaped guide rail mechanism; 31. Arc-shaped rack; 32. Arc-shaped guide rail; 4. Flower baling machine main shaft mechanism; 41. Flower baling shaft; 42. Flower baling rope; 43. Flower baling rope connector; 44. Seat bearing; 45. Gear; 46. Upper slide plate; 47. Lower slide plate; 48. Roller; 49. Speed ​​sensor; 50. Hydraulic motor; 51. Motor; Detailed Implementation To better understand the above-described objects, features, and advantages of the present invention, the invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] Figures 1-5 An adjustable single-axis flexible rope swinging flower thinning machine designed specifically for fruit tree flower thinning operations is demonstrated. The flower thinning machine mainly includes a moving body, on which a flower thinning device, a binocular vision sensor system and a central processing unit are installed. The flower thinning device is composed of a flower thinning shaft mounting bracket 1, a flower thinning machine telescopic mechanism 2, an arc-shaped guide rail mechanism 3 and a flower thinning machine main shaft mechanism 4. A telescopic device 2 is installed at each end of the flower-ploughing shaft mounting bracket 1; each telescopic device 2 is connected to an arc-shaped guide rail mechanism 3, and the two telescopic devices 2 are used to control the distance between the flower-ploughing shaft mounting bracket and the arc-shaped guide rail mechanism; a flower-ploughing machine main shaft mechanism 4 is provided between the two arc-shaped guide rail mechanisms 3; the flower-ploughing machine main shaft mechanism moves along the arc-shaped guide rail mechanism 3. The binocular vision sensor system is installed at the front end of the moving machine along its forward direction to acquire images of the flowers in the work area. The central processing unit controls the telescopic structure and the arc-shaped guide rail mechanism based on the flower images acquired by the binocular vision sensor. This invention's adjustable single-axis flexible rope-driven flower thinning machine can adapt to different tree structures and can adjust the front-to-back and left-to-right distance between the flower thinner and the fruit tree in real time. It can precisely position the flower thinner to the optimal working position according to the actual growth of the fruit tree, ensuring that all flowers that need to be thinned are effectively processed, greatly improving the accuracy and comprehensiveness of the flower thinning operation. Simultaneously, a speed sensor is installed on the flower thinner to acquire the rotational speed of the flower thinning shaft in real time.

[0025] Furthermore, the thinning shaft mounting frame 1 in this embodiment plays a crucial role as the basic support structure of the entire thinning machine. It consists of two parts: a U-shaped frame 11 and an onboard connector 12. The U-shaped frame 11 is tightly connected by welding two transverse support rods and a round tube, ensuring the overall strength of the frame and effectively dispersing various stresses generated during the thinning process. The transverse support rods are made of C-shaped steel and are welded with hydraulic cylinder mounting seats, providing a stable support point for the subsequent installation of the hydraulic cylinder 21; at the same time, sliding block mounting holes are also provided to facilitate the accurate installation and fixation of the sliding block. The onboard connector 12 is welded from a square tube and a connecting plate. The connecting plate has mounting holes and is fixed to the round tube of the U-shaped frame 11 by U-bolts. This design allows the thinning shaft mounting frame 1 to be easily connected to various fruit tree operation equipment or vehicles, improving the versatility and applicability of the thinning machine.

[0026] Furthermore, the telescopic mechanism 2 of the flower thinning machine in this embodiment is a key component for flexibly adjusting the front and rear distance of the flower thinning shaft. It mainly includes a hydraulic cylinder 21, a linear guide rail 22, a slider 23, and a guide rail mounting bracket 24. The hydraulic cylinder 21 serves as a power source, with one end securely fixed to the U-shaped frame 11 by a pin, and the other end also fixed to the linear guide rail mounting bracket 24 by a pin, ensuring that the hydraulic cylinder can stably transmit power. A hydraulic cylinder fixing seat is welded onto the linear guide rail mounting bracket 24 to provide a fixed position for the hydraulic cylinder, and a linear guide rail mounting hole is also provided to facilitate the fixing of the linear slide rail 22 to the guide rail mounting bracket 24 by bolts. The slider 23 is fixed to the thinning shaft mounting bracket 1 by bolts. When the hydraulic cylinder 21 works, it pushes the linear guide mounting bracket 24 to move back and forth, thereby causing relative movement between the linear guide 22 and the slider 23. This enables precise adjustment of the back and forth distance of the thinning shaft. The position of the thinning shaft can be flexibly adjusted according to the growth conditions of different fruit trees and the thinning requirements, ensuring the accuracy and effectiveness of the thinning operation.

[0027] Furthermore, the arc-shaped guide rail mechanism 3 in this embodiment provides precise guidance and support for the movement of the main shaft mechanism 4 of the flower thinning machine. It mainly consists of two parts: an arc-shaped rack 31 and an arc-shaped guide rail 32. The arc-shaped rack 31 has threaded holes, while the arc-shaped guide rail 32 has through holes for easy installation of bolts and other connecting parts. The arc-shaped rack 31 and the arc-shaped guide rail 32 are placed parallel to each other, with the arc openings aligned in the same direction, and are tightly connected by bolts to form a stable and reliable arc-shaped track structure. The back of the arc opening of the arc-shaped rack 31 is connected to the guide rail mounting bracket 24, ensuring the stability of the arc-shaped rack during movement. At the same time, the upper surface of the arc-shaped rack 31 and the upper surface of the guide rail mounting bracket 24 remain on the same plane, allowing the main shaft mechanism 4 of the flower thinning machine to move more smoothly and steadily along the arc-shaped guide rail, reducing friction and vibration during movement, achieving precise adjustment of the front-to-back and left-to-right distances of the flower thinning shaft, and improving the working efficiency and reliability of the flower thinning machine.

[0028] Furthermore, in this embodiment, the main shaft mechanism 4 of the flower thinning machine serves as the direct execution component for the flower thinning operation, working closely with the three mechanisms mentioned above. It is mounted on the flower thinning shaft mounting bracket 1 and can move back and forth under the adjustment of the flower thinning machine telescopic mechanism 2, while simultaneously moving precisely along the arc-shaped track provided by the arc-shaped guide rail mechanism 3, thereby achieving comprehensive and efficient flower thinning operations on fruit trees.

[0029] Specifically, the basting shaft 41 is the key component of the entire mechanism, bearing the basting function. It has threaded holes for installing the basting rope connector 43. To ensure the uniformity and comprehensiveness of the basting effect, six rows of threaded holes are provided, with each row arranged in a staggered pattern. This unique arrangement design allows the basting rope 42, installed at the other end of the basting rope connector 43, to be more rationally and widely distributed within the basting operation area, thereby effectively improving the quality and efficiency of basting.

[0030] The upper slide plate 46 plays a crucial supporting and connecting role in the entire main shaft mechanism 4. Its lower end face has a bearing mounting hole, and the bearing 44 is precisely fixed to the lower end face of the upper slide plate 46 with high-strength bolts. The upper end of the sparser shaft 41 is tightly fitted with the bearing 44, ensuring the stability and accuracy of the sparser shaft 41 during rotation, while effectively reducing friction and wear, and extending the service life of the components. The upper end of the upper slide plate 46 has a motor mounting hole, and the motor 51 is also fixed to the upper end face of the upper slide plate 46 with bolts. The gear 45 is mounted on the output shaft of the motor 51, and the mounting centers of the motor 51 and the bearing 44 are kept on the same axis. The gear 45 precisely meshes with the arc-shaped rack 31. When the motor 51 starts, through the transmission of the gear 45 and the arc-shaped rack 31, the entire main shaft mechanism 4 can be driven to move along the arc-shaped guide rail, thereby achieving automation and precision in the sparser operation.

[0031] To ensure smooth sliding of the upper slide plate 46 on the curved guide rail 32, roller mounting holes are provided at the upper end of the upper slide plate 46, and four rollers 48 are arranged parallel and evenly on the upper end of the upper slide plate 46. These rollers 48 are made of highly wear-resistant material and have undergone fine surface processing to reduce frictional resistance with the curved guide rail 32. During operation, the upper slide plate 46 slides against the curved guide rail 32 through the rollers 48, ensuring the stability of the upper slide plate 46's movement, while effectively reducing energy loss and improving the overall efficiency of the mechanism.

[0032] Furthermore, the speed sensor 49, as a crucial component for monitoring the rotational speed of the thinning shaft 41, is mounted on the lower end face of the upper slide plate 46, with its sensing surface facing the thinning shaft 41. The speed sensor 49 can detect the rotational speed of the thinning shaft 41 in real time and accurately, transmitting the detected signal to the central processing unit. Based on the information fed back by the speed sensor 49, the central processing unit promptly adjusts the speed of the motor 51 to ensure that the thinning shaft 41 always remains within its optimal operating speed range, thereby further improving the quality and stability of the thinning operation. The hydraulic motor 50 provides rotational power support for the entire thinning shaft 41. The hydraulic motor 50 can work in conjunction with the motor 51 to jointly drive the main shaft mechanism 4 to complete the thinning task, enhancing the adaptability and reliability of the entire thinning machine.

[0033] Furthermore, the design of the flower pruning rope has been deeply optimized in this invention. Its cross-sectional shape abandons the traditional circular design and innovatively adopts a five-leaf clover shape, which effectively reduces the frictional resistance between the flower pruning rope and the flowers and leaves during the swinging process, making the movement of the flower pruning rope smoother and more efficient. This not only reduces energy loss but also extends the service life of the flower pruning rope, further improving the overall performance and operating efficiency of the flower pruning machine.

[0034] This invention also provides a method for thinning flowers, the working principle of which is shown in the diagram below. Figure 6 The adjustable single-axis flexible rope spinning cotton thinning machine of the present invention includes the following steps: During flower thinning, the binocular vision sensor installed in front of the thinner first accurately acquires the position and image information of the flowers. The central processing unit combines the YOLOv12 algorithm to detect the distribution characteristics of pear blossoms. It integrates an advanced attention mechanism and an efficient feature aggregation network to achieve a balance between high accuracy and real-time performance. The attention mechanism is used as the core design framework. The feature map is divided into multiple regions through the Area Attention module, which reduces computational complexity while maintaining a large receptive field. The Flash Attention technology is used to optimize the memory access mode, reduce data exchange between high bandwidth memory (HBM) and GPU SRAM, and improve computational efficiency. It is suitable for detecting tiny flowers in high-resolution fruit tree images.

[0035] The Residual Efficient Layer Aggregation Network (R-ELAN) is introduced to enhance gradient flow and reduce optimization difficulty, effectively capturing multi-scale features of fruit tree flowers. Shallow branches can extract flower edge and texture details, while deep branches capture petal shape and spatial distribution information. The fusion of the two significantly improves the detection capability of overlapping or occluded flowers.

[0036] The central processing unit (CPU) comprehensively evaluates the flower position information acquired by the binocular vision sensors and the density determined by model recognition. When the evaluation results indicate that the flowers are densely packed and far apart, the CPU responds quickly and precisely controls the servo valve and motor driver. Under the control of the servo valve, the hydraulic cylinder extends forward, providing appropriate propulsion for the flower thinning operation. Simultaneously, the speed of the hydraulic motor is increased under control to ensure sufficient power and efficiency for the flower thinning operation. Furthermore, driven by the driver, the motor allows for flexible position adjustment of the flower thinning shaft on the arc-shaped guide rail, thereby achieving precise adjustment of the flower thinning shaft relative to the working area in the front-back and left-right directions. This ensures that the flower thinning shaft accurately targets the flowers in the target area, achieving efficient and precise flower thinning and creating favorable conditions for the growth and fruiting of the fruit trees.

Claims

1. An airborne adjustable single-axis flexible rope spinning cotton thinning machine, characterized in that, Including a mobile body, on which are set The device is equipped with a flower thinning device, a binocular vision sensor system, and a central processing unit. The flower thinning device includes a flower thinning shaft mounting bracket, a telescopic structure, an arc-shaped guide rail mechanism, and a flower thinning machine main shaft mechanism. A telescopic device is installed at each end of the flower thinning shaft mounting bracket. Each telescopic device is connected to an arc-shaped guide rail mechanism, and the two telescopic devices are used to control the distance between the flower thinning shaft mounting bracket and the arc-shaped guide rail mechanism. The flower thinning machine main shaft mechanism is located between the two arc-shaped guide rail mechanisms. The flower thinning machine main shaft mechanism moves along the arc-shaped guide rail mechanism. The flower thinning machine main shaft mechanism includes a flower thinning shaft. One end of the flower thinning shaft is rotatably connected to the upper slide plate, and the other end is rotatably connected to the lower slide plate. A motor is installed on the top of the upper slide plate, and a gear is installed on the output shaft of the motor, meshing with the arc-shaped guide rail mechanism. A hydraulic motor is connected to the lower end of the flower thinning shaft and is fixed to the upper end of the lower slide plate. Multiple rows of flower thinning ropes are mounted on the flower thinning shaft. The motor speed is detected by a speed sensor. The binocular vision sensor system is installed at the front end of the mobile body along the forward direction of the mobile body to acquire flower images of the working area; the central processing unit controls the hydraulic motor and motor of the telescopic structure based on the flower images acquired by the binocular vision sensor.

2. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, The flower spruce mounting bracket includes an onboard connector and a U-shaped frame. The onboard connector is mounted on the U-shaped frame to enable the flower spruce mounting bracket to be installed on the mobile body.

3. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, The telescopic structure includes a linear guide rail section and a hydraulic cylinder. The linear guide rail section includes a guide rail, a slider, and a guide rail mounting bracket. The guide rail is fixed on the guide rail mounting bracket, and the slider is fixed to the end of the U-shaped frame. One end of the hydraulic cylinder is connected to the U-shaped frame, and the other end is connected to the guide rail mounting bracket.

4. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, The arc-shaped guide rail mechanism includes an arc-shaped rack and an arc-shaped guide rail. The back of the arc-shaped rack is connected to the guide rail mounting bracket. The arc-shaped guide rail is fixed on the arc-shaped rack, and magnets are installed at both ends of the arc-shaped rack.

5. The airborne adjustable single-axis flexible rope spinning cotton thinning machine as described in claim 1, characterized in that, Both the upper and lower sliding plates are U-shaped, with a bearing mounting hole on one side and a motor mounting hole and a roller mounting hole on the other side.

6. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, The openwork shaft has multiple rows of threaded holes, each row of threaded holes is staggered, and adjacent threaded holes are offset at a 30° angle. Openwork rope mounting connectors are installed on the threaded holes.

7. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, The other end of the basting cord installation joint is connected to the basting cord, which is made of thermoplastic polyurethane elastomer and has a cross-section designed in the shape of a five-leaf clover.

8. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, Rollers are also fixed on the upper skateboard, and the rollers are placed in the grooves of the curved guide rail.

9. The airborne adjustable single-axis flexible rope spinning cotton slugging machine as described in claim 1, characterized in that, The speed sensor is fixed to the lower end of the upper slide plate, and the central processing unit is used to collect and process the information obtained by the binocular vision sensor and the speed sensor, and adjust the corresponding actuators.

10. The control method for the adjustable single-axis flexible rope spinning cotton opener as described in any one of claims 1-9, characterized in that, Includes the following steps: A binocular vision sensor acquires flower images of the work area, and the central processing unit combines the YOLOv12 algorithm to detect the distribution characteristics of pear blossoms. It integrates an advanced attention mechanism and an efficient feature aggregation network to achieve a balance between high accuracy and real-time performance. The attention mechanism is used as the core design framework. The feature map is divided into multiple regions through a region attention module, and the FlashAttention technology is used to optimize the memory access mode. A residual efficient layer aggregation network is introduced to enhance gradient flow and reduce optimization difficulty, effectively capturing multi-scale features of fruit tree flowers. Shallow branches can extract flower edges and texture details, while deep branches capture petal shape and spatial distribution information, and finally obtain the processed flower image. The central processing unit adjusts the distance between the flower thinning shaft and the flower thinning area by controlling the telescopic device and the motor based on the image of the flower after processing. In areas with dense flowers, the hydraulic motor is accelerated, and the rotation speed of the flower thinning shaft is monitored in real time by the speed sensor.

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