公开(公告)号：US20220005209A1

公开(公告)日：2022-01-06

申请号：US17296624

申请日：2020-01-23

Applicant: NANJING FORESTRY UNIVERSITY

Inventor： Linyun XU ,  Hongping ZHOU ,  Guanhua LIU ,  Jie ZHOU ,  Yan XUAN ,  Xuesong JIANG ,  Qing CHEN

IPC: G06T7/246 ,  G06T7/285 ,  G06T7/66 ,  G06T3/60

Abstract: A binocular-vision-based method for tracking fruit space attitude and fruit space motion, the method comprising: establishing a connected base coordinate system by taking a junction of a fruit and a fruit stem as an origin; statically photographing a feature point on the surface of the fruit and a point of the connected base coordinate system established at the junction of the fruit and the fruit stem; storing a photographed image; acquiring an inherent relationship between the feature point and the connected base coordinate system; photographing dynamic motion of the fruit; acquiring absolute coordinates of the feature point on the surface of the fruit; calculating, according to the inherent relationship between the feature point and the connected base coordinate system, absolute coordinates of a point of the connected base coordinate system at each moment corresponding to each frame of image; and respectively calculating the displacement, instantaneous speed and instantaneous acceleration of the fruit, calculating swing angular displacement and swing angular acceleration of the fruit, and calculating a fruit torsion angular speed and a fruit torsion angular acceleration at the moment t. The study of a fruit motion state in the field of forest fruit harvest through vibration is performed, so that the motion of fruits can be better tracked.