Fruit stem dynamic binding force obtaining method based on high-speed photography binocular vision technology

Abstract

The invention discloses a fruit stem dynamic binding force obtaining method based on a high-speed photography binocular vision technology. The fruit stem dynamic binding force obtaining method is based on a high-speed photography binocular vision technology. Characteristic points are marked on the surface of a fruit, the joint of the fruit and a fruit stem is marked as O1, an absolute coordinate system is established, and the inherent relation between the original point O1 in the static state and the characteristic points and the absolute coordinates of the original point O1 at all moments inthe dynamic state are determined; the fruit acceleration is determined according to the absolute coordinates of the origin O1 at each moment to acquire the fruit inertia force at the moment t according to the fruit acceleration. According to the fact that the equivalent resultant force FD and the inertia force F borne by the fruit are balanced at any moment and the equivalent resultant force FD borne by the fruit is the vector sum of the fruit stem dynamic binding force FJ and the fruit gravity G, the fruit stem dynamic binding force FJ is obtained, and FJ = F inertia force-G. The inertia force of the fruit is obtained based on the high-speed photography binocular vision technology, the dynamic fruit stem binding force is obtained through the inertia force borne by the fruit and gravity backstepping, and the method is simple, rapid and efficient.

Description

technical field [0001] The present invention relates to the technical field of fruit tree harvesting in agriculture and forestry, in particular to the research on the binding force of fruit in the field of fruit vibration harvesting, and in particular to the acquisition of the dynamic binding force of fruit stalks based on high-speed photography binocular vision technology method. Background technique [0002] Fruit harvesting is the most time-consuming and labor-intensive link in fruit production. For dried fruits such as ginkgo, red dates, and walnuts, the most effective harvesting method is mechanical vibration harvesting. Harvesting performance is related to many factors, including the inherent characteristics of the fruit tree and the working parameters of mechanical vibration. In recent years, the domestic research on fruit shedding force is mainly static binding force, that is, the static binding force of fruit is measured by a tension meter, but the actual fruit she...

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Problems solved by technology

In recent years, the domestic research on fruit shedding force is mainly static binding force, that is, the static binding force of fruit is measured by a tension meter, but the actual condition of fruit shedding is affected by the dynamic binding force during the vibration process, and it is difficult to pass additional force during fruit movement. Directly measure the dynamic fruit stalk binding force of the fruit by means of a force sensor

There is still a gap in the research on the dynamic binding force of the fruit during the vibration harvesting process. In order to explain the principle of vibrating fruit drop in a more detailed and in-depth manner, it is necessary to study the dynamic binding force of fruit movement

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