Double-arm rail type pear garden flower thinning device, pear garden device and flower thinning method

The invention discloses a double-arm rail type pear garden flower thinning device, a pear garden device and a flower thinning method. The double-arm rail type pear garden flower thinning device comprises a machine shell, a three-dimensional flower thinning device, a camera, an angle control hydraulic cylinder, a moving device and a height control hydraulic cylinder. Swing supports are arranged on the two sides of the machine shell; the three-dimensional flower thinning device is mounted on the swinging bracket; the camera is arranged on one side of the swinging bracket; the movable end of the angle control hydraulic cylinder is connected with the swinging bracket, and the fixed end is connected with the shell; the moving device is arranged at the bottom of the shell; and the other end of the height control hydraulic cylinder is connected with the moving device. The precision of flower thinning of the Y-shaped shed frame pear garden can be improved, and the influence of ground bumping on the flower thinning op