Reconfigurable automatic robot for picking eggplants and control method thereof

Abstract

The invention discloses a reconfigurable automatic robot for picking eggplants and a robot operation method.The automatic robot comprises a mechanical arm, a vision module, an end effector and a vehicle body frame, and a wheel leg frame assembly is further arranged at the bottom of the vehicle body frame; the wheel leg frame assembly comprises a two-way rail, an upper connecting plate, a supporting electric cylinder, a steering motor, a lower connecting plate and a walking wheel component, the two-way rail is transversely arranged at the bottom of the trolley body frame, the upper connecting plate is installed on a sliding block of the two-way rail in the longitudinal direction, and the supporting electric cylinder is installed perpendicular to the upper connecting plate; the upper end of the steering motor is fixed to the upper connecting plate through an angle connecting block, the lower end of the steering motor is connected with the lower connecting plate, the lower connecting plate is horizontally installed, the steering motor is fixedly installed on the lower connecting plate, and an output shaft of the steering motor penetrates through the lower connecting plate to be connected with a component of the walking wheel below. The technical problem that in the prior art, a robot cannot complete wheel track and eggplant tree crossing height changes in an eggplant field is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a reconfigurable automatic robot for picking eggplants and a control method thereof. Background Art

[0002] Agricultural production at different times and in different places has led to the emergence of various types and specifications of grain harvesters on the market to meet the needs of farmers in different regions. With the acceleration of agricultural modernization, agricultural production has an increasing demand for high-efficiency and intelligent harvesters, so grain harvesters with high performance, high efficiency and intelligence are favored by the market; in the agricultural field, although picking fruits and harvesting vegetables seem simple, in fact, these tasks are boring and time-consuming, and it is difficult to inspire employees' enthusiasm for work. In order to reduce the risk of sudden resignation of orchard employees, many companies have begun to pay attention to agricultural robot technology to reduce dependence on manual labor and improve overall production efficiency.

[0003] With the continuous development of science and technology, traditional land-based agriculture will gradually form a modern new industry based on crop cultivation technology, led by biotechnology, and integrating mechanized operations, automated cultivation facilities, and artificially controlled environments.

[0004] For example, in 1996, the Netherlands Institute for Agricultural and Environmental Engineering (IMAG) developed a cucumber picking robot for greenhouse operations. The target crop is a high-tension wire winding hanging growth. It is equipped with a 7DOF vertical multi-jointed robotic arm, the mobile mechanism slides along the direction of travel, and can realize the leaf picking function after replacing the end effector. In October 2010, the EU team led by Wageningen University began to develop a bell pepper picking robot, which is a project of the EU Seventh Framework Program (FP7). The robot includes a picking robotic arm, a guide rail compressor, a control circuit, an industrial computer, an end effector and a mobile carrier platform. The team completed the final robot prototype and research in September 2014. The cucumber picking robot developed by Henten5 et al. in the Netherlands is suitable for picking cucumbers in a height range of 0.8~1.5m planted in an oblique wire mode without leaf occlusion interference. The robot uses the greenhouse heating pipe as a track and has a driving speed of 0.8m / s. The robot uses a monocular camera to collect 850nm and 970nm near-infrared images of cucumbers at different positions to form stereoscopic vision, realize target recognition of cucumbers and locate the picking point of the fruit stem. The picking robot arm uses Mitsubishi's 6-degree-of-freedom industrial robot arm. After clamping the fruit, it uses a high-voltage electrode to burn off the fruit stem, which helps prevent bacterial infection. The picking success rate is about 80%, and it takes an average of 45 seconds to pick a single cucumber.

[0005] For example, a Chinese team developed a 4-DOF articulated robotic arm and a two-finger pneumatic end effector with integrated clamping and shearing functions, and equipped it with a binocular vision system. The test results show that it takes an average of 28 seconds to pick each fruit, and the success rate of picking is 86%. Shadows, bright spots, and occlusions affect the recognition effect, and the robotic arm will scrape the stems and leaves in the lush canopy and cause the fruit to shift. At the same time, the end effector may not be able to clamp. This robot that uses a robotic arm to clamp fruits and vegetables cannot cut off thick fruit stems or the fruit falls during the pulling process.

[0006] In addition, in the field of patent technology, a wheeled automatic pepper picking robot with application publication number CN116472868A belongs to the field of picking robot technology. It includes components such as a mobile chassis and a body. The body is fixed on the top surface of the mobile chassis, a grabbing device and a collection box are installed on the top of the body, a laser radar and a display are fixedly installed at the front end of the body, and a depth camera is installed on the grabbing device. A steering wheel and a driving wheel are fixed at the lower end of the mobile chassis. The steering wheel is connected to a steering device, and the driving wheel is connected to a driving device. The grabbing device, the display, the laser radar, the depth camera, the steering device, and the driving device are all connected to the control method. This picking robot can realize the coordinated work of the mobile chassis and the grabbing device through the control method; thereby realizing autonomous grabbing, precise picking, and automatic collection of peppers in a complex environment, and will not affect the quality of peppers. Peppers belong to the Solanaceae family like eggplants. This robot can be used to automatically identify maturity and perform cutting-type picking, but this robot cannot achieve variable distance, so it cannot shuttle in fields with different plant spacings and different plant crowns to destroy plant seedlings. Summary of the invention

[0007] The present invention aims to provide an automatic robot for picking eggplants, so as to solve the technical problems in the background art that the robot cannot complete the wheel track in the eggplant field and the robot itself cannot cross the height change of the eggplant trees.

[0008] In order to solve the above technical problems, a reconfigurable automatic robot for picking eggplants is designed, comprising a mechanical arm, a visual module, an end effector and a body frame, wherein the lower end of the mechanical arm is mounted on the top of the body frame, the visual module is mounted on the top of the mechanical arm, the end effector is mounted on the front end of the mechanical arm, and the mechanical arm is three-axis or five-axis; A wheel-leg frame assembly is also provided at the bottom of the vehicle body frame, and the wheel-leg frame assembly includes a bidirectional track, an upper connecting plate, a supporting electric cylinder, a steering motor, a lower connecting plate and a walking wheel component. The bidirectional tracks are arranged transversely at the bottom of the vehicle body frame, and are provided with two groups, one in front and one behind, fixed at the bottom of the vehicle body frame. The upper connecting plate is mounted on the slider of the bidirectional track in the longitudinal direction, and there are two sets of upper connecting plates, one on the left and one on the right, fixed on the slider of the bidirectional track. The supporting electric cylinder is installed vertically to the upper connecting plate, and its upper end is fixed to the upper connecting plate through an angle connecting block, and its lower end is connected to the lower connecting plate, which is installed horizontally. The steering motor is fixedly mounted on the lower connecting plate, and the output shaft of the steering motor passes through the lower connecting plate and is connected to the running wheel component below.

[0009] Furthermore, the travel wheel component includes a travel motor, an L-shaped plate and a travel wheel, the hub center axis of the travel wheel is connected to the output shaft of the travel motor, the vertical end of the L-shaped plate is installed on the output shaft of the travel motor, and the output shaft of the steering motor is connected to the horizontal end of the L-shaped plate.

[0010] Furthermore, the supporting electric cylinders and the traveling wheel components are provided in four groups, respectively, and are located at four positions of the vehicle body frame.

[0011] Furthermore, an auxiliary electric cylinder located between the two groups of supporting electric cylinders is provided on the same upper connecting plate, a universal wheel is installed at the lower end of the auxiliary electric cylinder, and the auxiliary electric cylinder and the supporting electric cylinder belong to the same control circuit.

[0012] Furthermore, a reinforcing electric cylinder is transversely installed between the two sets of upper connecting plates.

[0013] Furthermore, the end effector is any one of an articulated gripper, a cooperative parallel electric gripper, a triangular electric gripper, a three-finger concentric electric gripper, and a blade gripper, and a scissor blade is installed on the upper end of the shear hand of the end effector through an adjustable screw.

[0014] Furthermore, detachable eggplant baskets are installed on the left and right sides of the vehicle body frame.

[0015] Furthermore, a power supply, a storage device for receiving a visual module, and a central controller for issuing instructions are placed in the vehicle body frame, as well as relays for connecting auxiliary electric cylinders, supporting electric cylinders, reinforcing electric cylinders, end effectors, robotic arms, and travel motors.

[0016] In order to control the robot, a reconfigurable automatic robot control method was built. 1) Identify the terrain environment, use the visual module to identify the terrain, the height of the eggplant tree, and the soil moisture, and store the identification data in the storage during the identification process; 2) Receive the adjustment instructions of the wheel-leg frame assembly, adjust the data of the auxiliary electric cylinder, the supporting electric cylinder, and the strengthening electric cylinder according to the data of the visual module, and adjust the height of the body frame and the width distance of the wheel-leg frame assembly; When the wheel-leg frame assembly is walking, it can change the width of the road, walk in a straight line, cross obstacles and turn. The reinforced electric cylinder and the two-way track are used to realize the change of the width of the road, the steering motor and the walking wheel parts are used to realize the turning, and the walking wheel parts are used to realize the straight line walking. The parallel single control of 2 groups of auxiliary electric cylinders and 4 groups of supporting electric cylinders is used to realize the front and rear contraction / expansion to complete the obstacle crossing. 3) Identify the eggplant image, use the visual module to identify the color, size and shape of the eggplant, compare it with the shapes of various eggplant samples stored in the system in advance, and send the comparison results to the central controller; 4) Receive picking instructions, use the picking instructions received by the central controller to turn on the relay, drive the robotic arm to extend, and the end effector is positioned to the corresponding position to clamp the eggplant. The scissor blades cut off the eggplant stems, and then the robotic arm puts the eggplant back into the eggplant basket and continues picking.

[0017] Compared with the prior art, the reconfigurable automatic robot of the present invention has the following beneficial effects: From a design perspective, the adaptive reconfigurable tomato picker adopts a unique bionic design that simulates the six-legged walking method of insects or animals. Each wheel has the function of independent control, and can be easily controlled whether it is height lifting, flexible adjustment of steering or precise control of the direction of travel. This design not only gives the robot stronger terrain adaptability and stability, but also enables it to move flexibly in complex environments and better adapt to complex terrains such as mountains and hills, so as to operate in these difficult-to-reach areas. This terrain adaptability makes the adaptive reconfigurable tomato picker have a wider application prospect in the agricultural field.

[0018] 1. It can be equipped with a variety of agricultural tools and sensors to achieve precision agricultural management. It can be equipped with tools such as seeders, fertilizer applicators, and sprayers to achieve automated sowing, fertilization, and pest control. At the same time, by carrying sensors, the adaptive reconfigurable tomato picker can collect farmland environmental data and crop growth conditions in real time, providing farmers with precise agricultural management suggestions.

[0019] 2. Innovation in terrain adaptability: Traditional agricultural machinery and equipment are often difficult to operate effectively in complex terrains, such as mountains and hills. However, the adaptive reconfigurable tomato picker, with its unique bionic design, can move stably in these complex terrains, greatly broadening the scope of agricultural operations and improving operating efficiency.

[0020] 3. Innovation in agricultural operation automation: The adaptive reconfigurable tomato picking machine can perform a variety of agricultural operations such as sowing, fertilizing, irrigation, weeding, and harvesting.

[0021] 4. Innovation in precision agricultural management: The robot can be equipped with a variety of sensors and monitoring equipment to collect real-time environmental data of farmland and the growth of crops. This real-time monitoring and data collection, combined with advanced data analysis algorithms, can provide farmers with more accurate and scientific agricultural management suggestions, help achieve refined agricultural management, and improve crop yields and quality.

[0022] 5. Innovation in agricultural automation: The adaptive reconfigurable tomato picker can perform a variety of agricultural tasks such as sowing, fertilizing, irrigation, weeding, and harvesting. Compared with traditional manual operations, robotic operations have higher efficiency and accuracy, which can greatly reduce the labor burden of farmers and improve agricultural production efficiency.

[0023] In addition, the structural design of the adaptive reconfigurable cigar picker also takes into account work efficiency and stability. The six-legged structure can evenly distribute the weight of the robot, reduce the pressure on the ground, and thus reduce the sinking problem in soft soil. At the same time, the leg design of the adaptive reconfigurable cigar picker usually includes retractable and rotatable joints, which enables the robot to flexibly adjust the leg posture to adapt to different terrains and work requirements.

[0024] The robot's structure also takes into account maintainability and durability. The robot's body is usually made of strong and durable materials that can withstand various harsh conditions in the agricultural environment. At the same time, the robot's structure is also designed to be relatively simple, easy to maintain and maintain, and reduce the cost of use.

[0025] The structural rationality of the robot is also reflected in its scalability and customizability. According to different agricultural operation requirements, the robot's parameters such as the number, length, and joint type of legs can be flexibly adjusted to adapt to different operation scenarios. At the same time, various agricultural tools and sensors can also be added to expand the robot's functions and application range.

[0026] Force and calculation: 1kgF=9.80665N 1.6kg (arm weight) + 0.5kg (black plastic waterproof box) + 1.1kg (single guide rail weight) × 2 + 1kg (connecting plate) + 0.7 (single butterfly ear electric cylinder) × 8 = 10.4kg The thrust of a single electric cylinder is 60NM = r × F The total thrust is 360N The load-bearing capacity is 104N, which meets the action requirements Safety performance: The robot demonstrated good safety performance during the test, responding to stop commands in a timely manner and successfully avoiding obstacles, ensuring the safety of the operator and the surrounding environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the main structure of the present invention; Figure 3 It is a schematic diagram of the top view structure of the present invention; Figure 4 It is a three-dimensional structural schematic diagram of the wheel-leg frame assembly of the present invention; Figure 5 This is the control circuit diagram of the reconfigurable automatic robot.

[0028] Explanation of the marks in the figure: 1. Robotic arm; 2. Vision module; 3. End effector; 31. Scissor blade; 4. Vehicle body frame; 5. Wheel-leg frame assembly; 50. Bidirectional track; 51. Upper connecting plate; 52. Support electric cylinder; 53. Steering motor; 54. Lower connecting plate; 55. Travel wheel assembly; 550. Travel motor; 551. L-shaped plate; 552. Travel wheel; 56. Strengthening electric cylinder; 57. Auxiliary electric cylinder. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0030] At present, in the large-scale cultivation of modern eggplants, the spacing between plants of early-maturing eggplants is controlled at 35-40cm, the spacing between rows is controlled at 60-65cm, and 2300-2500 eggplants are planted per mu. For late-maturing eggplants, the spacing between plants is controlled at 40-45cm, the spacing between rows is controlled at 60-65cm, and 1500-2000 plants are planted per mu. If it is large and small row planting, the large row spacing is controlled at 70cm, the small row spacing is controlled at around 50cm, and the spacing between plants is controlled between 30-35, and about 2500-3000 plants are planted per mu.

[0031] Signs of ripe eggplants: Color: Ripe eggplants are brightly colored, usually dark purple or purple-red, with a smooth skin. If the eggplant is lighter in color, it may be unripe; if it is too dark or even spotted, it may be overripe. Texture: Ripe eggplants have a firm and elastic texture, and they quickly return to their original shape after being gently pressed. If the skin is rough and inelastic, it may be unripe; if the skin is too soft, it may be overripe. Stem: The stem of a ripe eggplant is dry, darker in color, and closely connected to the flesh. If the stem still has a green calyx, it may be unripe; if the stem has fallen off, it may be overripe.

[0032] like Figure 1 — Figure 5A reconfigurable automatic robot for picking eggplants comprises a robotic arm 1, a vision module 2, an end effector 3 and a body frame 4. The lower end of the robotic arm 1 is mounted on the top of the body frame 4, the vision module 2 is mounted on the top of the robotic arm 1, and the end effector 3 is mounted on the front end of the robotic arm 1. The robotic arm 1 is a three-axis or five-axis robot, and the robotic arm 1 can rotate 360° on the body frame 4.

[0033] A wheel-leg frame assembly 5 is also provided at the bottom of the vehicle body frame 4 , and the wheel-leg frame assembly 5 includes a bidirectional track 50 , an upper connecting plate 51 , a supporting electric cylinder 52 , a steering motor 53 , a lower connecting plate 54 and a walking wheel component 55 .

[0034] The bidirectional rails (MGN15C-1-R210-Z0-M electric cylinder) are arranged horizontally at the bottom of the body frame 4, and are provided with two groups, one in front and one in the back, fixed at the bottom of the body frame 4. The selected rail length is 210 mm. The two sliders designed with a single rail not only ensure the stable operation of the system, but also optimize the load distribution, so that the entire system can maintain excellent performance under high load.

[0035] The upper connecting plate 51 is installed on the slider of the two-way track 50 in the longitudinal direction, and there are two groups of upper connecting plates 51, one on the left and one on the right, fixed on the slider of the two-way track 50, and a reinforced electric cylinder 56 is also installed horizontally between the two groups of upper connecting plates 51. The two-way track 50 and the reinforced electric cylinder 56 are mainly used to achieve variable distance. The eggplant planting area may have complex conditions such as undulating terrain and gullies, and traditional picking methods may be difficult to cope with. The track changing module allows the picker to adjust the walking trajectory according to terrain changes to ensure that the picking operation can proceed smoothly without being restricted by the terrain. The row spacing and plant spacing of eggplants under different planting modes may be different, and traditional pickers may find it difficult to adapt. The six-legged eggplant picker can adapt to the needs of different planting modes through the track changing module, thereby expanding the operating range and application scenarios of the picker.

[0036] The supporting electric cylinder 52 is installed perpendicular to the upper connecting plate 51, and its upper end is fixed to the upper connecting plate through an angle connecting block, and its lower end is connected to the lower connecting plate 54, which is installed horizontally. The supporting electric cylinder 52 and the walking wheel component 55 are respectively provided with four groups, which are respectively located at four positions of the vehicle body frame. An auxiliary electric cylinder 57 is also provided on the same upper connecting plate 51, which is located between the two groups of supporting electric cylinders, and a universal wheel is installed at the lower end of the auxiliary electric cylinder 57. The lifting function of the supporting electric cylinder 52 and the auxiliary electric cylinder 57 (model: CMNTL) enables the harvester to adjust according to the uneven ground conditions and keep the machine body stable. This is crucial to ensure stability and accuracy during the picking process, and can also reduce pressure and damage to eggplant plants.

[0037] The steering motor 53 is fixedly mounted on the lower connecting plate 54, and the output shaft of the steering motor 53 passes through the lower connecting plate and is connected to the running wheel component 55 below. The running wheel component 55 includes a running motor 550, an L-shaped plate 551 and a running wheel 552. The hub center axis of the running wheel 552 is connected to the output shaft of the running motor 550, the vertical end of the L-shaped plate 551 is mounted on the output shaft of the running motor 550, and the output shaft of the steering motor 53 is connected to the horizontal end of the L-shaped plate 551. The running wheel 552 can rotate a certain angle under the control of the steering motor 53, thereby controlling the walking direction of the entire robot, and can realize various actions such as forward, backward, steering, and side shifting, so as to facilitate flexible shuttle in the field and efficiently complete the picking task.

[0038] The end effector 3 is any one of an articulated gripper, a cooperative parallel electric gripper, a triangular electric gripper, a three-finger concentric electric gripper, and a blade gripper, and a scissor blade 31 is installed on the upper end of the shearing hand of the end effector 3 through an adjustable screw. The gripper module can accurately grip the eggplant to ensure that no unnecessary damage is caused to the eggplant during the picking process. The design of the gripper module allows it to be adjusted according to the different sizes and shapes of eggplants to ensure that eggplants of various specifications can be gripped.

[0039] Removable eggplant baskets 6 are also installed on the left and right sides of the body frame 4. The body frame 4 is equipped with a power supply, a storage for receiving the visual module, a central controller for issuing instructions, and relays for connecting the auxiliary electric cylinder, the supporting electric cylinder, the strengthening electric cylinder, the end effector, the robot arm, and the walking motor. The connection control circuit diagram is as shown in FIG. Figure 5 shown.

[0040] A reconfigurable automatic robot control method, the robot's workflow is as follows: 1) Using the visual module to identify the terrain environment, the robot will transmit the collected soil data to the farmer's mobile phone, analyze the soil pH, soil soluble salt, total soil salt, soluble cations and anions, and then analyze the soil conditions of the area to identify the terrain, the height of the eggplant tree, and the soil moisture. During the identification process, the identification data will be stored in the storage device; You can also install an air quality detector on the top to analyze the air quality by detecting the content of smoke, total suspended particulate matter, inhalable suspended particulate matter (floating dust), nitrogen dioxide, sulfur dioxide, carbon monoxide, ozone, volatile organic compounds, etc. The air quality detector has a photosensitive sensor on the side, which can automatically sense the intensity of the light in the environment and automatically adjust the brightness of the screen. When the external light is very strong, the detector display will automatically increase the brightness to ensure a clear display; and in the dim light at night, it will automatically reduce the brightness to ensure that it is not dazzling.

[0041] 2) Receive the adjustment instructions of the wheel-leg frame assembly, adjust the data of the auxiliary electric cylinder, the supporting electric cylinder, and the strengthening electric cylinder according to the data of the visual module, and adjust the height of the body frame and the width distance of the wheel-leg frame assembly; When the wheel-leg frame assembly is walking, it is divided into walking with changing width and narrowness, walking in a straight line, crossing obstacles and turning. The reinforced electric cylinder and the two-way track are used to realize walking with changing width and narrowness, the steering motor and the walking wheel component are used to realize turning, the walking wheel component is used to realize walking in a straight line, and the parallel single control of 2 groups of auxiliary electric cylinders and 4 groups of supporting electric cylinders is used to realize front and rear contraction / expansion to complete crossing obstacles.

[0042] 3) Identify the eggplant image. The camera captures the image of each crop and converts it into a corresponding analog image signal output according to the brightness of each point in the image. The system identifies these image signals, stores samples of various objects to be identified in the computer, and extracts their shape features for storage. The judgment of eggplant quality includes appearance inspection: observe the shape of the eggplant. High-quality eggplants usually have uniform and regular fruit shapes without obvious deformation or deformity. Check the eggplant skin. High-quality eggplants have smooth skin and bright color, usually dark purple or purple-red, without spots, cracks, rot or rust. Calyx judgment: The color and state of the eggplant calyx (also called "eggplant eye") can reflect the freshness of the eggplant. The calyx of a fresh eggplant is usually bright in color, with a white or lavender band ring centered and wide, which indicates that the fruit is growing and the flesh is tender.

[0043] During the recognition process, the robot's visual system extracts the features of the object and compares them with various sample shapes stored in the system in advance, thereby identifying what kind of object it is. The comparison results are sent to the central controller, thereby achieving accurate picking; Part of the visual code: import cv2 import numpy as np # Load the image image = cv2.imread('path to your_image.jpg') # Convert image to HSV color space hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) # Define the HSV range of blue lower_blue = np.array([110, 50, 50]) upper_blue = np.array([130, 255, 255]) # Create a mask that only includes the blue area mask = cv2.inRange(hsv, lower_blue, upper_blue) # Find contours in the mask contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) # Display the result image cv2.imshow('Color Detection', image) # Wait for a key press, then close the window cv2.waitKey(0) cv2.destroyAllWindows() 4) Receive picking instructions, use the picking instructions received by the central controller to turn on the relay, drive the robotic arm to extend, and the end effector is positioned to the corresponding position to clamp the eggplant. The scissor blades cut off the eggplant stems, and then the robotic arm puts the eggplant back into the eggplant basket and continues picking.

[0044] In order to achieve efficient and accurate position control and dynamic performance, the robotic arm system integrates the PID (proportional-integral-differential) control algorithm.

[0045] The above is a detailed introduction to the reconfigurable automatic robot for picking eggplants provided by the present application. The description of the specific embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A reconfigurable automatic robot for picking eggplants, comprising a robotic arm, a vision module, an end effector and a body frame, wherein the lower end of the robotic arm is mounted on the top of the body frame, the vision module is mounted on the top of the robotic arm, and the end effector is mounted on the front end of the robotic arm, and the robotic arm is three-axis or five-axis; Features: A wheel-leg frame assembly is also provided at the bottom of the vehicle body frame, and the wheel-leg frame assembly includes a bidirectional track, an upper connecting plate, a supporting electric cylinder, a steering motor, a lower connecting plate and a walking wheel component. The bidirectional tracks are arranged transversely at the bottom of the vehicle body frame, and are provided with two groups, one in front and one behind, fixed at the bottom of the vehicle body frame. The upper connecting plate is mounted on the slider of the bidirectional track in the longitudinal direction, and there are two sets of upper connecting plates, one on the left and one on the right, fixed on the slider of the bidirectional track. The supporting electric cylinder is installed vertically to the upper connecting plate, and its upper end is fixed to the upper connecting plate through an angle connecting block, and its lower end is connected to the lower connecting plate, which is installed horizontally. The steering motor is fixedly mounted on the lower connecting plate, and the output shaft of the steering motor passes through the lower connecting plate and is connected to the running wheel component below.

2. The reconfigurable automatic robot for picking eggplants according to claim 1, characterized in that: The travel wheel component includes a travel motor, an L-shaped plate and a travel wheel, the hub center axis of the travel wheel is connected to the output shaft of the travel motor, the vertical end of the L-shaped plate is installed on the output shaft of the travel motor, and the output shaft of the steering motor is connected to the horizontal end of the L-shaped plate.

3. The reconfigurable automatic robot for picking eggplants according to claim 1, characterized in that: The supporting electric cylinders and the traveling wheel components are respectively provided with four groups, which are respectively located at four positions of the vehicle body frame.

4. The reconfigurable automatic robot for picking eggplants according to claim 3, characterized in that: An auxiliary electric cylinder located between the two groups of supporting electric cylinders is also arranged on the same upper connecting plate, and a universal wheel is installed at the lower end of the auxiliary electric cylinder.

5. The reconfigurable automatic robot for picking eggplants according to claim 1, characterized in that: A reinforced electric cylinder is also installed horizontally between the two sets of upper connecting plates.

6. The reconfigurable automatic robot for picking eggplants according to claim 1, characterized in that: The end effector is any one of an articulated gripper, a cooperative parallel electric gripper, a triangular electric gripper, a three-finger concentric electric gripper, and a blade gripper, and a scissor blade is installed on the upper end of the shear hand of the end effector through an adjustable screw.

7. The reconfigurable automatic robot for picking eggplants according to claim 1, characterized in that: Removable eggplant baskets are also installed on the left and right sides of the vehicle body frame.

8. The reconfigurable automatic robot for picking eggplants according to claim 7, characterized in that: The body frame contains a power supply, a storage device for receiving vision modules, a central controller for issuing commands, and relays for connecting auxiliary electric cylinders, supporting electric cylinders, reinforcing electric cylinders, end effectors, robotic arms, and travel motors.

9. The reconfigurable automatic robot control method according to any one of claims 1 to 8, characterized in that: 1) Identify the terrain environment, use the visual module to identify the terrain, the height of the eggplant tree, and the soil moisture, and store the identification data in the storage during the identification process; 2) Receive the adjustment instructions of the wheel-leg frame assembly, adjust the data of the auxiliary electric cylinder, the supporting electric cylinder, and the strengthening electric cylinder according to the data of the visual module, and adjust the height of the body frame and the width distance of the wheel-leg frame assembly; 3) Identify the eggplant image, use the visual module to identify the color, size and shape of the eggplant, compare it with the shapes of various eggplant samples stored in the system in advance, and send the comparison results to the central controller; 4) Receive picking instructions, use the picking instructions received by the central controller to turn on the relay, drive the robotic arm to extend, and the end effector is positioned to the corresponding position to clamp the eggplant. The scissor blades cut off the eggplant stems, and then the robotic arm puts the eggplant back into the eggplant basket and continues picking.

10. The reconfigurable automatic robot control method according to claim 9, characterized in that: When the wheel-leg frame assembly is walking, it is divided into walking with changing width and narrowness, walking in a straight line, crossing obstacles and turning. The reinforced electric cylinder and the two-way track are used to realize walking with changing width and narrowness, the steering motor and the walking wheel component are used to realize turning, the walking wheel component is used to realize walking in a straight line, and the parallel single control of 2 groups of auxiliary electric cylinders and 4 groups of supporting electric cylinders is used to realize front and rear contraction or expansion to complete crossing obstacles.

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