Greenhouse automatic vine dropping robot and vine dropping method

A vine dropping method of a greenhouse automatic vine dropping robot, comprising:

• step a, calculating an operation height, comprising:
• before a vine dropping hook is hung on a vine hanging steel wire, detecting the vine hanging steel wire by an optoelectronic switch installed on a vine dropping robot, to determine a height of a vine dropping operation of a mechanical arm by the vine dropping robot;
• and hanging the vine dropping hook wound with a vine dropping rope on the vine hanging steel wire fixed in a shed, and connecting a lower end of the vine dropping rope to a seedling vine of a plant,
• step b, positioning the vine dropping hook, comprising:
• positioning the vine dropping hook by a light curtain sensor at a tail end of the mechanical arm of the vine dropping robot, wherein during the operation, the vine dropping robot travels along an inter-row path, and when the light curtain sensor detects the vine dropping hook, the vine dropping robot stops traveling, and the mechanical arm carries out the vine dropping operation according to a motion trajectory designed by a program, and after one operation is completed, the mechanical arm is reset to a posture before the operation for subsequent operation;
• and
• step c, designing the motion trajectory of the mechanical arm comprising:
• when the light curtain sensor detects the vine dropping hook, driving, by the mechanical arm, a gripper to move forward towards the vine dropping hook for a certain distance to enable the vine dropping hook to enter an opening-closing range of the gripper, and then closing the gripper to clamp the vine dropping hook;
• then, controlling the mechanical arm to move upward to lift the vine dropping hook, and driving, by the mechanical arm, the gripper to transversely move backwards by a certain distance, and driving the gripper to rotate the vine dropping hook by positive integer times of 180°;
• and finally, putting, by the mechanical arm, the vine dropping hook back to the vine hanging steel wire along an original path, and resetting the mechanical arm to an initial posture after the operation is completed.