CN111260690A - Method for acquiring dynamic binding force of carpopodium based on high-speed photography binocular vision technology - Google Patents

Method for acquiring dynamic binding force of carpopodium based on high-speed photography binocular vision technology Download PDF

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CN111260690A
CN111260690A CN202010055844.1A CN202010055844A CN111260690A CN 111260690 A CN111260690 A CN 111260690A CN 202010055844 A CN202010055844 A CN 202010055844A CN 111260690 A CN111260690 A CN 111260690A
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许林云
宣言
刘冠华
周杰
周宏平
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Nanjing Forestry University
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Abstract

The invention discloses a method for acquiring the dynamic binding force of a carpopodium based on a high-speed photography binocular vision technology, which is characterized in that characteristic points are marked on the surface of a fruit and a mark which takes the joint of the fruit and the carpopodium as an origin point is marked as O1And establishing an absolute coordinate system to determine the origin O in a static state1Inherent relation with each feature point and dynamic time lower origin O1Absolute coordinates of (a); and according to the lower origin O at each moment1Determining the acceleration of the fruit according to the absolute coordinates of the acceleration, and obtaining the inertia force of the fruit at the time t according to the acceleration of the fruit; according to the equivalent resultant force F borne by the fruit at any momentDWith inertial force FForce of inertiaBalanced and equivalent resultant force F to which the fruit is subjectedDFor dynamic combination of fruit stalksForce FJThe vector sum of the weight G of the fruit and the fruit handle dynamic binding force is obtained as FJ＝FForce of inertia-G. The method obtains the inertia force of the fruits based on the high-speed photography binocular vision technology, and obtains the dynamic binding force of the fruit stalks by reversely deducing the inertia force and the gravity borne by the fruits, and is simple, rapid and efficient.

Description

Method for acquiring dynamic binding force of carpopodium based on high-speed photography binocular vision technology
Technical Field
The invention relates to the technical field of fruit tree harvesting in agriculture and forestry, in particular to research and research on binding force borne by fruits in the field of vibration harvesting of forest fruits, and specifically relates to a method for acquiring dynamic binding force of fruit stalks based on a high-speed photography binocular vision technology.
Background
The forest fruit harvesting operation is the most time-consuming and most labor-consuming link in forest fruit production, for dry fruit trees such as ginkgo, red dates, walnuts and the like, the most effective harvesting mode is mechanical vibration harvesting at present, and the harvesting effect of harvesting machinery is related to various factors including inherent characteristics of fruit trees and working parameters of mechanical vibration. In recent years, the research on fruit shedding force in China mainly adopts static binding force, namely the static binding force of the fruit is measured by a tension meter, but the actual fruit shedding condition is influenced by the dynamic binding force in the vibration process, and the dynamic fruit stalk binding force of the fruit is difficult to be directly measured by a way of adding a force sensor in the fruit movement process. The research on the dynamic binding force borne by the fruits in the vibrating picking process is also vacant, and the research on the dynamic binding force of the fruit movement is needed in order to explain the principle of vibrating fruit drop more carefully and deeply.
Disclosure of Invention
The invention aims to provide a method for acquiring the dynamic binding force of a carpopodium based on a high-speed photography binocular vision technology, aiming at the problems in the prior art.
The invention aims to solve the problems by the following technical scheme:
a method for acquiring the dynamic binding force of fruit stalks based on a high-speed photography binocular vision technology is characterized by comprising the following steps: the acquisition method comprises the following steps:
A. marking three characteristic points C on the surface of the fruit1、C2、C3The origin of the joint between the fruit and the stalk is marked as O1And establishing an absolute coordinate system, absolute coordinatesThe unit vectors of each coordinate axis in the system are respectively: x ═ 1,0,0)T、Y＝(0,1,0)T、Z＝(0,0,1)T；
B. Static shooting is carried out on three characteristic points and an origin point on the surface of the fruit by adopting two high-speed cameras, the shot image is stored by Phantom software, each characteristic point and the origin point in the image are processed by TEMA software, and a characteristic point C is derived1、C2、C3And origin O1To establish an origin O1Inherent relationships with each feature point;
C. two high-speed cameras are adopted to shoot dynamic movement of the fruit, Phantom software is used for storing each frame of image in a shot video, TEMA software is used for processing each characteristic point in the image, absolute coordinates of each characteristic point on the surface of the fruit are obtained, and reverse rotation transformation is used for calculating the corresponding lower origin O of each frame of image at each moment1Absolute coordinates of (a);
D. according to the origin O at each moment1Respectively calculating and obtaining the instantaneous acceleration a of the fruit along the X axis at the time tx(t)Instantaneous acceleration a along the Y-axisy(t)Instantaneous acceleration a along the Z-axisz(t)Due to fruit acceleration a at time t(t)The projection in three directions under the absolute coordinate system is ax(t)、ay(t)、az(t)Then, the inertia force F of the fruit at the time t is obtainedForce of inertiaComprises the following steps:
Figure BDA0002372771930000021
in the formula (17), m represents the mass of the fruit;
E. f is the equivalent resultant force and the inertia force of the fruit at any momentForce of inertia＝FDIn the formula FDThe equivalent resultant force on the fruit when the motion state of the fruit changes, and the equivalent resultant force F on the fruitDFor binding the fruit stem FJAnd the vector sum of the fruit gravity G, so that the dynamic binding force of the fruit stem is as follows: fJ＝FForce of inertia-G (18); in the formula (18), at the fruitIn static state FForce of inertiaWhen the binding force is equal to 0, the static binding force F of the fruit stalksQuiet J-G; when the fruit is in motion FForce of inertiaNot equal to 0, the dynamic binding force of the fruit stem is FMovable J＝FForce of inertia-G。
Establishing an origin O in the step B1The steps of the inherent relationship with each feature point are:
b1, establishing vector by absolute coordinates
Figure BDA0002372771930000022
And
Figure BDA0002372771930000023
will be provided with
Figure BDA0002372771930000024
And
Figure BDA0002372771930000025
unitization; establishing vectors
Figure BDA0002372771930000026
B2, single-unit
Figure BDA0002372771930000027
And
Figure BDA0002372771930000028
and (3) performing vector product to obtain:
Figure BDA0002372771930000029
by passing
Figure BDA00023727719300000210
And
Figure BDA00023727719300000211
and (3) performing vector product to obtain:
Figure BDA00023727719300000212
thereby establishing a connection with C1Common reference base coordinate as originIs CxyzThen a common reference base coordinate system CxyzHas a coordinate axis vector of
Figure BDA00023727719300000213
Calculating the vector by a space vector included angle calculation formula
Figure BDA00023727719300000214
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αx、βx、γxCalculating a vector
Figure BDA00023727719300000215
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αy、βy、γyCalculating a vector
Figure BDA00023727719300000216
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αz、βz、γzThen the coordinate transformation matrix a is:
Figure BDA00023727719300000217
b3, origin O1In a common reference base coordinate system CxyzCoordinates of lower
Figure BDA00023727719300000218
Obtained by the following formula:
Figure BDA00023727719300000219
origin O in the step C1The absolute coordinate solving formula of (a) is:
Figure BDA0002372771930000031
in the formula (16), the compound represented by the formula,
Figure BDA0002372771930000032
is the lower origin O at time t1Is determined by the absolute coordinates of the point in time,
Figure BDA0002372771930000033
is a characteristic point C at time t1Is determined by the absolute coordinates of the point in time,
Figure BDA0002372771930000034
is a characteristic point C1In a common reference base coordinate system CxyzThe coordinates of the lower part of the bar,
Figure BDA0002372771930000035
for the conversion matrix A at time ttThe inverse matrix of (d); each frame of image corresponds to a moment, and the origin O is solved frame by frame1Absolute coordinates of (a).
The inertial force F of the fruit at the time t in the step DForce of inertiaThe solving steps are as follows:
d1, respectively calculating the point origin O by setting the time corresponding to each of two adjacent frames of images as t +1 time and t time1Displacement along the X-axis of the absolute coordinate system at time t +1 and time t:
Figure BDA0002372771930000036
calculate the origin O by the same principle1Displacement S along the Y-axis of the absolute coordinate system at time t +1 and time tyAnd Z-axis displacement Sz；
D2, calculating the instantaneous speed v of the fruit along the X axis at the time t according to the displacementx(t)＝SxΔ t, where Δ t is the interval between two images, the instantaneous speed v of the fruit along the Y axis at time t can be obtained by analogyy(t)And instantaneous velocity v along the Z-axisz(t)；
D3, calculating the instantaneous acceleration a of the fruit along the X axis at the moment t according to the instantaneous speedx(t)＝(vx(t+1)-vx(t)) T, the instantaneous acceleration a of the fruit along the Y axis can be obtainedy(t)And instantaneous acceleration a along the Z-axisz(t)；
D4, at time tAcceleration of fruit a(t)The projection in three directions under the absolute coordinate system is ax(t)、ay(t)、az(t)Then, the inertia force F of the fruit at the time t is obtainedForce of inertiaComprises the following steps:
Figure BDA0002372771930000037
in the formula (17), m represents the mass of the fruit.
In the dynamic process of the fruit in the step E, when the fruit stem is from the slack time point to the tight time point, the fruit stem applies an instantaneous impact force F to the fruitCInstantaneous impact force F of the time pointC＝FJ。
When the fruit is in a static state FForce of inertiaWhen the binding force is equal to 0, the static binding force F of the fruit stalksQuiet JIf it is-G, the static binding force of fruit stem is FQuiet JAlso according to formula (18), i.e. F, in step EQuiet J＝FForce of inertia-G＝-G。
The models of the two high-speed cameras in the step B and the step C are M310 and/or VEO 410.
Compared with the prior art, the invention has the following advantages:
the method for acquiring the dynamic binding force of the carpopodium is based on a high-speed photography binocular vision technology, and is characterized in that characteristic points are marked on the surface of a fruit and a joint of the fruit and the carpopodium is taken as an origin point to be marked as O1And establishing an absolute coordinate system to determine the origin O in a static state1Inherent relation with each feature point and dynamic time lower origin O1Absolute coordinates of (a); and according to the lower origin O at each moment1Determining the acceleration of the fruit according to the absolute coordinates of the acceleration, and obtaining the inertia force of the fruit at the time t according to the acceleration of the fruit; according to the equivalent resultant force F borne by the fruit at any momentDWith inertial force FForce of inertiaBalanced and equivalent resultant force F to which the fruit is subjectedDDynamically binding the fruit stem with FJThe vector sum of the weight G of the fruit and the fruit handle dynamic binding force is obtained as FJ＝FForce of inertia-G; the method for obtaining the dynamic binding force of the fruit stem is based on the inertia of the fruitThe dynamic binding force of the fruit stalks is obtained by reverse thrust of the sexual force and the gravity, and the method is simple, rapid and efficient.
Drawings
FIG. 1 is a flow chart of a method for obtaining the dynamic binding force of the carpopodium of the invention;
FIG. 2 is a spatial coordinate diagram of a fruit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the spatial stress of the fruit according to the embodiment of the present invention;
fig. 4 is a schematic direction diagram of the fruit space translation track and the fruit handle dynamic combination force according to the embodiment of the invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
The fruit is supposed to be only subjected to the dynamic binding force of the fruit stalk and the gravity of the fruit in the movement process, so that the movement state of the fruit is changed by the equivalent resultant force of the two forces. It should also be noted that the fruit is only subjected to the static binding forces of the stalks and the weight of the fruit during the resting process. As the dynamic carpopodium binding force of the fruit is difficult to be directly measured in the fruit space movement process by the way of the additional force sensor, the dynamic carpopodium binding force is obtained by utilizing the equivalent resultant force and the gravity reverse thrust, and the instantaneous stress condition of the fruit space movement is shown in figure 3.
Fruit space motion transient stress analysis
The X, Y, Z axes of an absolute coordinate system are established, with gravity in the negative direction of the Z axis. The fruit mass is m, and the fruit is only affected by the dynamic binding force of the fruit stalk and the gravity in the fruit movement process, so the space movement state of the fruit is affected by the equivalent resultant force of the two forces, the equivalent resultant force is the vector sum of the dynamic binding force of the fruit stalk and the gravity, and the equivalent resultant force is:
FD＝FJ+G (1)
in the formula (1), FDRepresenting the equivalent resultant force, F, experienced by the fruit in motionJIndicating the dynamic binding force of the stalks, and G indicating the gravity to which the fruit is subjected.
Secondly, the fruit is decomposed by stress
For convenienceCalculating, projecting the dynamic binding force, equivalent resultant force and gravity of the fruit handle to three coordinate axes of an absolute coordinate system respectively, and recording as FDX、FDY、FDZ、FJX、FJY、FJZ、GX、GY、GZ(ii) a According to the dynamics analysis, the external force borne by the fruit is balanced with the inertia force at any time, so that the projected forces of the three forces on the three coordinate axes are respectively balanced with the projected inertia component forces of the inertia force on the three coordinate axes, and the following results are obtained:
maX＝FDX＝FJX+GX(2)
maY＝FDY＝FJY+GY(3)
maZ＝FDZ＝FJZ+GZ(4)
a in formula (2)XA in formula (3)YA in formula (4)ZThe acceleration of the force projected by the inertia force to three coordinate axes under an absolute coordinate system is respectively, and the dynamic combined component forces of the fruit handle in three directions obtained by shifting terms are respectively:
FJX＝FDX-GX(5)
FJY＝FDY-GY(6)
FJZ＝FDZ-GZ(7)
since gravity is along the negative direction of the Z axis, the projections of gravity on the X axis and the Y axis are 0, then:
GX＝0 (8)
GY＝0 (9)
GZ＝G (10)
therefore, the equations (5), (6) and (7) can be simplified as follows:
FJX＝FDX(11)
FJY＝FDY(12)
FJZ＝FDZ-GZ(13)
as shown in the formulas (11), (12) and (13), the instantaneous dynamic binding force of the fruit stalks is FJ＝[FDX，FDY，FDZ-GZ]。
Thirdly, calculating equivalent resultant force and reversely deducing dynamic binding force of fruits
As shown in fig. 1 to 4, the motion state of the fruit is changed by the equivalent resultant force of the dynamic binding force of the fruit and the gravity, and the instantaneous inertia force of the fruit is equal to the equivalent resultant force as shown in the formulas (2), (3) and (4). The method comprises the steps of calculating the acceleration magnitude and direction of the fruit, calculating the equivalent resultant force applied to the transient fruit, and obtaining the instantaneous acceleration of the fruit through a high-speed photography binocular vision technology.
A method for acquiring the dynamic binding force of carpopodium based on a high-speed photography binocular vision technology comprises the following steps:
A. marking three characteristic points C on the surface of the fruit1、C2、C3The origin of the joint between the fruit and the stalk is marked as O1And establishing an absolute coordinate system, wherein unit vectors of all coordinate axes in the absolute coordinate system are respectively as follows: x ═ 1,0,0)T、Y＝(0,1,0)T、Z＝(0,0,1)T。
B. Static shooting three characteristic points and an origin on the surface of the fruit by using two high-speed cameras (M310 and VEO410), storing the shot image by using Phantom software, processing each characteristic point and origin in the image by using TEMA software, and deriving a characteristic point C1、C2、C3And origin O1To establish an origin O1Inherent relationships with each feature point; establishing an origin O1The specific steps of the inherent relationship with each feature point are as follows:
b1, establishing vector by absolute coordinates
Figure BDA0002372771930000061
And
Figure BDA0002372771930000062
will be provided with
Figure BDA0002372771930000063
And
Figure BDA0002372771930000064
unitization; establishing vectors
Figure BDA0002372771930000065
B2, single-unit
Figure BDA0002372771930000066
And
Figure BDA0002372771930000067
and (3) performing vector product to obtain:
Figure BDA0002372771930000068
by passing
Figure BDA0002372771930000069
And
Figure BDA00023727719300000610
and (3) performing vector product to obtain:
Figure BDA00023727719300000611
thereby establishing a connection with C1Common reference base coordinate system C as originxyzThen a common reference base coordinate system CxyzHas a coordinate axis vector of
Figure BDA00023727719300000612
Calculating the vector by a space vector included angle calculation formula
Figure BDA00023727719300000613
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αx、βx、γxCalculating a vector
Figure BDA00023727719300000614
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αy、βy、γyCalculating a vector
Figure BDA00023727719300000615
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αz、βz、γzThen the coordinate transformation matrix a is:
Figure BDA00023727719300000616
b3, origin O1In a common reference base coordinate system CxyzCoordinates of lower
Figure BDA00023727719300000617
Obtained by the following formula:
Figure BDA00023727719300000618
in this example
Figure BDA00023727719300000619
C. Two high-speed cameras (M310 and VEO410) are adopted to shoot the dynamic movement of the fruit, each frame of image in the shot video is stored through Phantom software, each characteristic point in the image is processed through TEMA software, the absolute coordinate of each characteristic point on the surface of the fruit is obtained, and the origin O corresponding to each moment of each frame of image is calculated through inverse rotation transformation1Absolute coordinates of (a); origin O1The absolute coordinate solving formula of (a) is:
Figure BDA0002372771930000071
in the formula (16), the compound represented by the formula,
Figure BDA0002372771930000072
is the lower origin O at time t1Is determined by the absolute coordinates of the point in time,
Figure BDA0002372771930000073
is a characteristic point C at time t1Is determined by the absolute coordinates of the point in time,
Figure BDA0002372771930000074
is a characteristic point C1In a common reference base coordinate system CxyzThe coordinates of the lower part of the bar,
Figure BDA0002372771930000075
for the conversion matrix A at time ttThe inverse matrix of (d); each frame of image corresponds to a moment, and the origin O is solved frame by frame1Absolute coordinates of (a).
D. According to the origin O at each moment1Respectively calculating and obtaining the instantaneous acceleration a of the fruit along the X axis at the time tx(t)Instantaneous acceleration a along the Y-axisy(t)Instantaneous acceleration a along the Z-axisz(t)Due to fruit acceleration a at time t(t)The projection in three directions under the absolute coordinate system is ax(t)、ay(t)、az(t)Then, the inertia force F of the fruit at the time t is obtainedForce of inertiaMoment t, fruit inertia force FForce of inertiaThe solving steps are as follows:
d1, respectively calculating the point origin O by setting the time corresponding to each of two adjacent frames of images as t +1 time and t time1Displacement along the X-axis of the absolute coordinate system at time t +1 and time t:
Figure BDA0002372771930000076
calculate the origin O by the same principle1Displacement S along the Y-axis of the absolute coordinate system at time t +1 and time tyAnd Z-axis displacement Sz；
D2, calculating the instantaneous speed v of the fruit along the X axis at the time t according to the displacementx(t)＝SxΔ t, where Δ t is the interval between two images, the instantaneous speed v of the fruit along the Y axis at time t can be obtained by analogyy(t)And instantaneous velocity v along the Z-axisz(t)；
D3, calculating the instantaneous acceleration a of the fruit along the X axis at the moment t according to the instantaneous speedx(t)＝(vx(t+1)-vx(t)) T, the instantaneous acceleration a of the fruit along the Y axis can be obtainedy(t)And instantaneous acceleration a along the Z-axisz(t)；
D4 fruit acceleration a at time t(t)The projection in three directions under the absolute coordinate system is ax(t)、ay(t)、az(t)Then, the inertia force F of the fruit at the time t is obtainedForce of inertiaComprises the following steps:
Figure BDA0002372771930000077
in the formula (17), m represents the mass of the fruit.
E. F is the equivalent resultant force and the inertia force of the fruit at any momentForce of inertia＝FDIn the formula FDThe equivalent resultant force on the fruit when the motion state of the fruit changes, and the equivalent resultant force F on the fruitDFor binding the fruit stem FJAnd the vector sum of the fruit gravity G, so that the dynamic binding force of the fruit stem is as follows: fJ＝FForce of inertia-G (18). It should be noted that F is the fruit in a static stateForce of inertiaWhen the binding force is equal to 0, the static binding force F of the fruit stalksQuiet JIf it is-G, the static binding force of fruit stem is FQuiet JAlso according to formula (18), i.e. F, in step EQuiet J＝FForce of inertia-G＝-G。
FIG. 4 shows the junction O of the fruit and the stalk1The motion trajectory in the spatial coordinates of an absolute coordinate system, and O at each time instant1The size and direction of the dynamic binding force of the fruit handle on the point are the length of the line segment, and the direction is the direction indicated by the arrow. O as embodied in FIG. 41The point space coordinates and the dynamic binding force coordinates are shown in table 1.
TABLE 1O1Point space coordinate and dynamic binding force coordinate
Figure BDA0002372771930000081
Figure BDA0002372771930000091
Figure BDA0002372771930000101
Figure BDA0002372771930000111
Figure BDA0002372771930000121
Figure BDA0002372771930000131
Figure BDA0002372771930000141
Figure BDA0002372771930000151
In the method for obtaining the dynamic binding force of the fruit stalks, when the fruit stalks of the fruits are in a stretched and tight state from a bent and loose state, the fruit stalks exert an instantaneous impact force F on the fruitsC. Since the fruit is likely to fall off from a bent relaxed state to a straightened tense state, the force that tends to cause the fruit to fall off is a momentary impact force. The conditions for generating the instantaneous impact force show that the instantaneous impact force is the dynamic binding force of the fruit stalks under specific conditions. Therefore, the part of the results meeting the condition of the instantaneous impact force can be selected from the calculated dynamic binding force of the fruit stalks as the instantaneous impact force. It is assumed herein that the condition of the instantaneous impact force is that when the derivative of the distance between the carpopodium and the fruit branch with respect to time is positive at the time t-1, and the derivative of the distance between the carpopodium and the fruit branch with respect to time is negative at the time t +1, the time t is the time point from loosening to tightening of the carpopodium, that is, the dynamic binding force of the carpopodium at the time t is the instantaneous impact force of the carpopodium. The mathematical expression of the instantaneous impact force is then: fC＝FD，
Figure BDA0002372771930000161
And is
Figure BDA0002372771930000162
L in the formula is the space Euclidean distance from the joint point of the fruit handle and the fruit branch to the joint point of the fruit handle and the fruit.
The method for acquiring the dynamic binding force of the carpopodium is based on a high-speed photography binocular vision technology, and is characterized in that characteristic points are marked on the surface of a fruit and a joint of the fruit and the carpopodium is taken as an origin point to be marked as O1And establishing an absolute coordinate system to determine the origin O in a static state1Inherent relation with each feature point and dynamic time lower origin O1Absolute coordinates of (a); and according to the lower origin O at each moment1Determining the acceleration of the fruit according to the absolute coordinates of the acceleration, and obtaining the inertia force of the fruit at the time t according to the acceleration of the fruit; according to the equivalent resultant force F borne by the fruit at any momentDWith inertial force FForce of inertiaBalanced and equivalent resultant force F to which the fruit is subjectedDDynamically binding the fruit stem with FJThe vector sum of the weight G of the fruit and the fruit handle dynamic binding force is obtained as FJ＝FForce of inertia-G; the method for acquiring the dynamic binding force of the fruit stalks obtains the dynamic binding force of the fruit stalks by reversely deducing the inertia force and the gravity of the fruits, and is simple, quick and efficient.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.

Claims (7)

1. A method for acquiring the dynamic binding force of fruit stalks based on a high-speed photography binocular vision technology is characterized by comprising the following steps: the acquisition method comprises the following steps:
A. marking three characteristic points C on the surface of the fruit1、C2、C3The origin of the joint between the fruit and the stalk is marked as O1And establishing an absolute coordinate system, wherein unit vectors of all coordinate axes in the absolute coordinate system are respectively as follows: x ═ 1,0,0)T、Y＝(0,1,0)T、Z＝(0,0,1)T；
B. Static shooting is carried out on three characteristic points and an origin point on the surface of the fruit by adopting two high-speed cameras, the shot image is stored by Phantom software, each characteristic point and the origin point in the image are processed by TEMA software, and a characteristic point C is derived1、C2、C3And origin O1To establish an origin O1Inherent relationships with each feature point;
C. two high-speed cameras are adopted to shoot dynamic movement of the fruit, Phantom software is used for storing each frame of image in a shot video, TEMA software is used for processing each characteristic point in the image, absolute coordinates of each characteristic point on the surface of the fruit are obtained, and reverse rotation transformation is used for calculating the corresponding lower origin O of each frame of image at each moment1Absolute coordinates of (a);
D. according to the origin O at each moment1Respectively calculating and obtaining the instantaneous acceleration a of the fruit along the X axis at the time tx(t)Instantaneous acceleration a along the Y-axisy(t)Instantaneous acceleration a along the Z-axisz(t)Due to fruit acceleration a at time t(t)The projection in three directions under the absolute coordinate system is ax(t)、ay(t)、az(t)Then, the inertia force F of the fruit at the time t is obtainedForce of inertiaComprises the following steps:
Figure FDA0002372771920000011
in the formula (17), m represents the mass of the fruit;
E. f is the equivalent resultant force and the inertia force of the fruit at any momentForce of inertia＝FDIn the formula FDThe equivalent resultant force on the fruit when the motion state of the fruit changes, and the equivalent resultant force F on the fruitDDynamically binding the fruit stem with FJAnd the vector sum of the fruit gravity G, so that the dynamic binding force of the fruit stem is as follows: fJ＝FForce of inertia-G(18)。
2. The method of claim 1The method for acquiring the dynamic carpopodium binding force based on the high-speed photography binocular vision technology is characterized by comprising the following steps of: establishing an origin O in the step B1The steps of the inherent relationship with each feature point are:
b1, establishing vector by absolute coordinates
Figure FDA0002372771920000012
And
Figure FDA0002372771920000013
will be provided with
Figure FDA0002372771920000014
And
Figure FDA0002372771920000015
unitization; establishing vectors
Figure FDA0002372771920000016
B2, single-unit
Figure FDA0002372771920000017
And
Figure FDA0002372771920000018
and (3) performing vector product to obtain:
Figure FDA0002372771920000019
by passing
Figure FDA00023727719200000110
And
Figure FDA00023727719200000111
and (3) performing vector product to obtain:
Figure FDA00023727719200000112
thereby establishing a connection with C1Common reference base coordinate system as originCxyzThen a common reference base coordinate system CxyzHas a coordinate axis vector of
Figure FDA00023727719200000113
Calculating the vector by a space vector included angle calculation formula
Figure FDA00023727719200000114
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αx、βx、γxCalculating a vector
Figure FDA0002372771920000021
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αy、βy、γyCalculating a vector
Figure FDA0002372771920000022
Respectively with a common reference base coordinate system CxyzX, Y and Z axes of angle αz、βz、γzThen the coordinate transformation matrix a is:
Figure FDA0002372771920000023
b3, origin O1In a common reference base coordinate system CxyzCoordinates of lower
Figure FDA0002372771920000024
Obtained by the following formula:
Figure FDA0002372771920000025
3. the method for acquiring the fruit stalk dynamic binding force based on the high-speed photography binocular vision technology according to claim 1, wherein the method comprises the following steps: origin O in the step C1Absolute coordinate solution ofThe solution formula is:
Figure FDA0002372771920000026
in the formula (16), the compound represented by the formula,
Figure FDA0002372771920000027
is the lower origin O at time t1Is determined by the absolute coordinates of the point in time,
Figure FDA0002372771920000028
is a characteristic point C at time t1Is determined by the absolute coordinates of the point in time,
Figure FDA0002372771920000029
is a characteristic point C1In a common reference base coordinate system CxyzThe coordinates of the lower part of the bar,
Figure FDA00023727719200000210
for the conversion matrix A at time ttThe inverse matrix of (d); each frame of image corresponds to a moment, and the origin O is solved frame by frame1Absolute coordinates of (a).
4. The method for acquiring the fruit stalk dynamic binding force based on the high-speed photography binocular vision technology according to claim 1, wherein the method comprises the following steps: the inertial force F of the fruit at the time t in the step DForce of inertiaThe solving steps are as follows:
d1, respectively calculating the point origin O by setting the time corresponding to each of two adjacent frames of images as t +1 time and t time1Displacement along the X-axis of the absolute coordinate system at time t +1 and time t:
Figure FDA00023727719200000211
calculate the origin O by the same principle1Displacement S along the Y-axis of the absolute coordinate system at time t +1 and time tyAnd Z-axis displacement Sz；
D2, calculating the instantaneous speed v of the fruit along the X axis at the time t according to the displacementx(t)＝Sx,/Δ t, whichWhere Δ t is the interval between two images, the instantaneous speed v of the fruit along the Y-axis at time t can be obtainedy(t)And instantaneous velocity v along the Z-axisz(t)；
D3, calculating the instantaneous acceleration a of the fruit along the X axis at the moment t according to the instantaneous speedx(t)＝(vx(t+1)-vx(t)) T, the instantaneous acceleration a of the fruit along the Y axis can be obtainedy(t)And instantaneous acceleration a along the Z-axisz(t)；
D4 fruit acceleration a at time t(t)The projection in three directions under the absolute coordinate system is ax(t)、ay(t)、az(t)Then, the inertia force F of the fruit at the time t is obtainedForce of inertiaComprises the following steps:
Figure FDA0002372771920000031
in the formula (17), m represents the mass of the fruit.
5. The method for acquiring the fruit stalk dynamic binding force based on the high-speed photography binocular vision technology according to claim 1, wherein the method comprises the following steps: in the dynamic process of the fruit in the step E, when the fruit stem is from the slack time point to the tight time point, the fruit stem applies an instantaneous impact force F to the fruitCInstantaneous impact force F of the time pointC＝FJ。
6. The method for acquiring the fruit stalk dynamic binding force based on the high-speed photography binocular vision technology according to claim 1, wherein the method comprises the following steps: when the fruit is in a static state FForce of inertiaWhen the binding force is equal to 0, the static binding force F of the fruit stalksQuiet JIf it is-G, the static binding force of fruit stem is FQuiet JAlso according to formula (18), i.e. F, in step EQuiet J＝FForce of inertia-G＝-G。
7. The method for acquiring the fruit stalk dynamic binding force based on the high-speed photography binocular vision technology according to claim 1, wherein the method comprises the following steps: the models of the two high-speed cameras in the step B and the step C are M310 and/or VEO 410.
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