Rigid-flexible coupling robotic arm type measurement platform and method for plant phenotype information

A rigid-flexible coupling robotic arm type measurement platform for plant phenotype information includes a controller, a crawler walking module (100), a flexible robotic arm module (200) and a soft mechanical hand module (300);

• the crawler walking module (100) includes a crawler walking device (101), and a robotic arm rotating base (102) which is configured to drive the flexible robotic arm module (200) to rotate;
• the crawler walking device (101) is connected to the flexible robotic arm module (200) by means of the robotic arm rotating base (102);
• and the flexible robotic arm module (200) is connected to the soft mechanical hand module (300);
• the soft mechanical hand module (300) includes a rotating motor (301) and a soft mechanical hand assembly;
• the soft mechanical hand assembly includes an index finger assembly (302), a thumb assembly (303), a soft cushion (304) and a first connecting seat (305);
• the index finger assembly (302) includes an automatic index finger telescopic arm, an index finger connecting joint (3021) and an index finger end joint (3022);
• an end of the automatic index finger telescopic arm is rotationally 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 arranged on the automatic index finger telescopic arm;
• and the index finger connecting joint (3021) is rotationally connected to the index finger end joint (3022), and a second driving mechanism (3024) for driving the index finger end joint (3022) to rotate is arranged on the index finger connecting joint (3021);
• the thumb assembly (303) includes an automatic thumb telescopic arm, a thumb connecting joint (3031) and a thumb end joint (3032);
• an end of the automatic thumb telescopic arm is rotationally connected to the thumb connecting joint (3031), and a third driving mechanism (3033) for driving the thumb connecting joint (3031) to rotate is arranged on the automatic thumb telescopic arm;
• and the thumb connecting joint (3031) is rotationally connected to the thumb end joint (3032), and a fourth driving mechanism (3034) for driving the thumb end joint (3032) to rotate is arranged on the thumb connecting joint (3031);
• an output end of the rotating motor (301) is connected to the first connecting seat (305);
• the first connecting seat (305) is connected to the automatic index finger telescopic arm and the automatic thumb telescopic arm simultaneously;
• and the soft cushion (304) is connected between the automatic index finger telescopic arm and the automatic thumb telescopic arm;
• the index finger end joint (3022) and the thumb end joint (3032) are all made of flexible materials;
• a first sensor and a second sensor are arranged on surfaces of the index finger end joint (3022), the thumb end joint (3032) and the soft cushion (304);
• the first sensor and the second sensor are both electrically connected to the controller;
• and the controller is electrically connected to the fifth driving mechanism (1021) in the robotic arm rotating base (102), the sixth driving mechanism (3025) in the automatic index finger telescopic arm, and the sixth driving mechanism (3025), the first driving mechanism (3023), the second driving mechanism (3024), the third driving mechanism (3033) and the fourth driving mechanism (3034) in the automatic thumb telescopic arm simultaneously;
• the first sensor is configured to detect whether it makes contact with a surface of a plant or not and transmit a signal to the controller, the second sensor is configured to detect the distance and transmit a signal to the controller, and the controller is configured to control the fifth driving mechanism (1021) in the robotic arm rotating base (102), the sixth driving mechanism (3025) in the automatic index finger telescopic arm, and the sixth driving mechanism (3025), the first driving mechanism (3023), the second driving mechanism (3024), the third driving mechanism (3033) and the fourth driving mechanism (3034) in the automatic thumb telescopic arm to work.