A method for measuring micro-vibration parameters of Shuchazao leaves based on high-speed visual non-destructive technology

Abstract

The present invention discloses a method for measuring the micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology, and the measuring system includes a droplet generation system and a high-speed imaging processing system. The measuring method includes the following steps: clamping the Shuchazao leaves and fixing the high-speed camera; adjusting the micro-injection pump to supply liquid medicine to the nozzle; sending a piezoelectric drive signal through an arbitrary waveform generator, amplifying it through a high-frequency power amplifier, and adjusting and controlling it through an oscilloscope to drive the piezoelectric ceramic ring to generate high-frequency vibration; calibrating the high-speed camera; using a high-speed camera to capture the complete process of pesticide droplets impacting the Shuchazao leaf surface, stereoscopic observation, and real-time acquisition; performing image processing and analysis on the recorded images to extract the vibration parameters of the Shuchazao leaf jitter under the continuous impact of multiple pesticide droplets. The present invention applies high-speed imaging non-destructive measurement technology for the first time to obtain the dynamic characteristic parameters of micro-jitter of Shuchazao leaves that cannot be measured by currently commonly used measurement methods.

Description

Technical Field

[0001] The present invention relates to the intersection of mechanical vibration measurement and precise pesticide application, and in particular to a method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology. Background Art

[0002] Shucha, a typical tea variety, is susceptible to pests and diseases as early as the growth period. In order to ensure the quality of tea, pesticides are needed to be used for chemical control. However, the impact of pesticide droplets on the leaf surface will cause micro-vibration of the leaf, which in turn causes a two-phase flow fluctuation load on the leaf surface, forming an unstable thin liquid film on the leaf surface, inducing the interactive instability of the leaf liquid film, and causing a fluid-solid coupling effect. This effect will affect the interfacial behavior of pesticide droplets after they hit the leaf surface, such as adhesion, rolling, sputtering, rebound, etc., thereby affecting the actual spraying efficiency of pesticides. Therefore, measuring the micro-vibration vibration parameters after pesticide droplets hit the leaf surface is of great significance to improving the efficiency of pesticide spraying.

[0003] At present, vibration measurement methods are mainly divided into two categories: contact measurement and non-contact measurement. The contact measurement method requires that the sensor be attached to the object to be measured according to certain rules and connected to the upper layer. The sensor includes a pressure accelerometer sensor, a gyroscope sensor, etc., which mainly converts the vibration amount of the object to be measured into electrical quantity to collect vibration data. The upper system is used to process the data and display it in the form of reports and curves. This method has the advantages of high sensitivity, wide frequency range and dynamics, and a wide linear range. The non-contact measurement method is an integrated comprehensive measurement method that integrates sensor high-speed image acquisition technology, computer image processing technology, pattern recognition technology, and deep learning technology. This method has the advantages of no load effect, no damage to the object to be measured, and easy to achieve information integration. As a flexible body, Shucha morning tea leaves have the characteristics of small size, light weight, and easy deformation. The use of contact measurement methods will bring obvious mass load effects, greatly affecting its dynamic characteristics, and the measurement accuracy cannot be guaranteed. Summary of the invention

[0004] The present invention provides a method for measuring the micro-jitter parameters of Shucha Zao leaves based on high-speed visual non-destructive technology, aiming to solve the problem that the existing conventional measurement means cannot achieve accurate measurement of the vibration parameters of tea leaves.

[0005] In one aspect of the present invention, the present invention proposes a method for measuring the micro-jitter parameters of Shucha Zao leaves based on high-speed visual non-destructive technology. According to an embodiment of the present invention, the following steps are included:

[0006] Step 1: Establish a Shucha Zao leaf vibration parameter measurement system, which includes a droplet generation system and a high-speed imaging processing system. The droplet generation system is used to generate continuous and uniform pesticide droplets of variable particle size and spray the droplets onto the Shucha Zao leaves. The high-speed imaging processing system is used to record video images of the Shucha Zao leaves after being hit by pesticide droplets and process the video images.

[0007] Step 2: horizontally clamp the petiole end of the Shuchazao leaf, and use the droplet generation system to make the pesticide droplets hit the center of the leaf surface;

[0008] Step 3: Use a high-speed imaging processing system to capture the complete dynamic process of pesticide droplets impacting the leaves of Shuchazao;

[0009] Step 4: Use a high-speed imaging processing system to process and analyze the complete dynamic process of pesticide droplets impacting the leaves of Shucha Zao, and extract the vibration parameters of the leaves of Shucha Zao after being impacted by pesticide droplets.

[0010] Preferably, in step 1:

[0011] The droplet generation system includes a piezoelectric ceramic ring, a nozzle, a micro-injection pump, an arbitrary waveform generator, a high-frequency power amplifier, an oscilloscope and a support frame, wherein the support frame is used to place the Shucha Zao leaves, the micro-injection pump is connected to the nozzle, the piezoelectric ceramic ring is assembled on the nozzle, the arbitrary waveform generator is used to send an electrical signal to the piezoelectric ceramic ring to generate mechanical vibration, the high-frequency power amplifier is used to amplify the electrical signal sent by the arbitrary waveform generator, and the oscilloscope is used to control and adjust the signal sent by the arbitrary waveform generator;

[0012] The high-speed imaging system includes a high-speed camera for image acquisition and a computer terminal for controlling the high-speed camera and processing data.

[0013] Preferably, a jet nozzle is installed on the nozzle, the microinjection pump is used to adjust the jet speed of the jet nozzle, and the aperture of the jet nozzle is used to adjust the particle size of the sprayed pesticide droplets;

[0014] The droplet generation system also includes a liquid storage device, which is used to store pesticides and is connected to a micro-injection pump.

[0015] Preferably, the specific operations of step 2 are as follows:

[0016] S1. Clamp the petiole end of the Shuchazao leaf horizontally on a support frame and place it directly below the jet nozzle to ensure that the pesticide droplets hit the center of the leaf surface;

[0017] S2. Adjust the microinjection pump to the suction mode to suck the liquid into the liquid reservoir, and then switch to the injection mode to supply the liquid from the pressurized liquid reservoir to the nozzle at a constant flow rate, and the nozzle is equipped with a piezoelectric ceramic ring;

[0018] S3. Use an arbitrary waveform generator to send a driving signal to the piezoelectric ceramic, use a high-frequency power amplifier to amplify the driving signal, and use an oscilloscope to adjust and control the driving signal to ensure that the injection pump can stably and continuously spray droplets.

[0019] Preferably, the specific operations of step three are as follows:

[0020] S1. Fix the high-speed camera on a tripod;

[0021] S2. Use a ruler as a target to calibrate the high-speed camera, build the relationship between the natural unit of the camera and the length unit of the physical world, and obtain the size conversion factor between the two;

[0022] S3. A high-speed camera was used to capture the complete dynamic process of pesticide droplets impacting the leaves of Shuchazao.

[0023] Preferably, in step S2, the relationship between the target size in the image and the actual size of the target can be expressed by the formula: express;

[0024] Among them, dimage represents the size of the target in the image, expressed in pixel size, dreality represents the actual size of the target, expressed in millimeters, SF represents the scale displacement factor, that is, the actual size corresponding to the unit pixel, D represents the distance from the camera to the target, f is the effective focal length value, and dPixel represents the actual size of a single pixel.

[0025] In step S3, the shooting frame rate of the high-speed camera is set to 1000 frames per second, and the shooting format at this frame rate is 1280×800.

[0026] In step S4, the principle of three-dimensional binocular high-speed synchronous dynamic frequency measurement, microscopic high-speed dynamic photography technology combined with optical flow method are adopted, and multiple cameras are used to synchronously shoot the dynamic process of multiple droplets continuously impacting the leaf surface and the tip of the leaf shaking from multiple angles in all directions, so as to achieve stereoscopic observation and real-time collection.

[0027] Preferably, in step 4, the processing and analysis method specifically includes the following steps:

[0028] (1) Extracting the leaf edges of Shucha Zaocha tea leaves: graying the image captured by the high-speed camera, and then extracting the edges to remove noise in the image;

[0029] (2) Select the marking points on the leaf edge;

[0030] (3) Analyze and obtain the change of the coordinates of the leaf marking points over time domain, and obtain the oscillation attenuation curve of the amplitude of the Shuzaocha marking points over time;

[0031] (4) The modified fitting results were evaluated by combining the coefficient of determination with the root mean square error;

[0032] (5) Analyze the fitting results and obtain the vibration parameters of Shuchazao leaves after being hit by pesticide droplets.

[0033] Preferably, in step (1), the Canny contour detection algorithm is used to extract the leaf edge, and the opening and closing operations are used to remove the noise in the image;

[0034] In the step (2), a marking point is selected on the tip of the leaf edge.

[0035] Preferably, in the step (3), the analysis method is as follows: the coordinate changes of the leaf marking points are tracked in Matlab, the initial time is zero time, the initial displacement of the leaf is 0, after being hit by the pesticide droplets, the Shucha Zaocha tea leaves vibrate, and then the oscillation is attenuated by the damping, the damping includes fixture damping and air damping, and the oscillation attenuation curve can be obtained after tracking the time domain changes of the marking points;

[0036] In the step (5), the fitting results are analyzed in the Matlab curve fitting toolbox to obtain the vibration parameters of the Shuchazao leaves after being hit by the pesticide droplets, and the vibration parameters include the maximum amplitude, the oscillation period and the oscillation attenuation coefficient.

[0037] Preferably, in step (4), the oscillating decay autocorrelation function with an initial y value of 0 can be expressed as y(t)=Ae (-α*t) cos(ω*t), where y(t) is the displacement; Ae(-α*t) represents the amplitude change over time, α is the attenuation coefficient, when α is greater than zero, it decays exponentially, and ω represents the oscillation frequency.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention is based on high-speed imaging non-destructive technology to measure the vibration parameters of Shucha Zao leaves. Compared with the traditional contact measurement method, the present invention has the following advantages: the measurement method has no load effect, does not damage the test object, can use multiple cameras and multi-angle shooting to achieve three-dimensional space motion analysis; generally not affected by strong magnetic field environment, the camera shooting distance is flexible; it can easily record instantaneous phenomena, analyze higher frequency signals, and can also achieve measurement and analysis of objects of different scales; the video acquisition process is stable and the parameter setting is simple, and the acquisition of signals does not require manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the Shucha Zao leaf flutter parameter measurement system based on high-speed visual non-destructive technology in Example 1 of the present invention;

[0041] Figure 2 This is a schematic diagram of the extraction result of the leaf edge of Shucha Zao leaves in Example 2 of the present invention;

[0042] Figure 3 The dynamic process of the entire vibration of the leaves of Shuchazao under the impact of multiple droplets recorded by the shooting system of the test platform in Example 2 of the present invention;

[0043] Figure 4 Schematic diagram of the time domain displacement curve at the blade tip extracted in Example 2 of the present invention;

[0044] In the figure, 1. piezoelectric ceramic ring, 2. high-speed camera, 3. blade, 4. nozzle, 5. micro-injection pump, 6. arbitrary waveform generator, 7. high-frequency power amplifier, 8. oscilloscope, 9. computer terminal, 10. support frame, DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] During the pesticide spraying process, the pesticide droplets will cause micro-vibration of the leaves when they hit the surface of the Shuchazao leaves. Understanding the vibration law of the leaves will help to master a more scientific and reasonable method of pesticide spraying. Since the leaves of Shuchazao are small in size, light in weight, and easy to deform, the traditional contact measurement method will not only damage the leaves, but also bring about a load effect, thereby changing the physical properties of the object being measured and failing to guarantee the measurement accuracy.

[0047] Based on this, the present invention provides a method for measuring the micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology.

[0048] Example 1

[0049] like Figure 1 As shown in the figure, the Shucha Zao leaf flutter parameter measurement system based on high-speed visual non-destructive technology includes:

[0050] A droplet generation system is used to generate continuous and uniform pesticide droplets and spray the droplets onto the leaves of Shucha Zao. The droplet generation system includes a piezoelectric ceramic ring 1, a nozzle 4, a microinjection pump 5, an arbitrary waveform generator 6, a high-frequency power amplifier 7, an oscilloscope 8, and a support frame 10. A clamping plate for clamping the leaves of Shucha Zao is provided on the support frame 10, the microinjection pump 5 is connected to the nozzle 4, a jet nozzle is installed on the nozzle 4, the microinjection pump 5 is used to adjust the jet nozzle shooting speed, and the jet nozzle aperture is used to adjust the particle size of the sprayed pesticide droplets. The liquid storage device is used to store pesticides, and the liquid storage device is connected to the microinjection pump 5. The piezoelectric ceramic ring 1 is assembled on the nozzle 4. The arbitrary waveform generator 6 is used to send an electrical signal to the piezoelectric ceramic ring 1 to generate mechanical vibration, promote the disintegration and dispersion of the jet liquid column and the generation of pesticide droplets, the high-frequency power amplifier 7 is used to amplify the sent electrical signal, and the oscilloscope 8 is used to control and adjust the sent signal.

[0051] The high-speed imaging system is used for recording and processing video images of Shucha Zao leaves after being hit by pesticide droplets. The high-speed imaging system includes a high-speed camera 2 for image acquisition and a computer terminal 9 for controlling the high-speed camera and processing data.

[0052] Example 2

[0053] The method for measuring the micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology includes the following steps:

[0054] Step 1: Use a clamp device to clamp the end of the petiole of the Shucha Zao leaf horizontally on the support frame and place it directly below the jet nozzle to ensure that the pesticide droplets hit the center of the leaf surface. In addition, ensure that the distance between the water outlet of the jet nozzle and the leaf surface is 0.4m, which is the optimal distance between the jet nozzle and the crop.

[0055] Step 2: To ensure stable shooting, fix the high-speed camera on a tripod. The resolution of the blades in the image is positively correlated with the accuracy of the measurement results. Therefore, the blades should occupy as wide a field of view of the camera as possible while ensuring clear imaging and keeping the imaging distance unchanged (for example, the number of frames of the camera at nozzle apertures of 300, 400 and 500 μm was set to 4000 frames / second after multiple pre-tests).

[0056] Step three, adjust the microinjection pump to the suction mode to suck the drug solution into the liquid reservoir, and then switch to the injection mode to supply the drug solution from the pressurized liquid reservoir to the nozzle at a constant flow rate (depending on the purpose and content of the experiment, the flow rate of the injection pump is 1, 2, 3, 4, 5 m / s respectively).

[0057] Step 4: Use an arbitrary waveform generator to send a driving signal to the piezoelectric ceramic, use a high-frequency power amplifier to amplify the driving signal, and use an oscilloscope to adjust and control the driving signal to ensure that the injection pump can stably and continuously spray droplets (after repeated attempts, when the driving signal frequency is 60Khz, the droplet spray is relatively stable).

[0058] Step 5: Use a ruler as a target to calibrate the high-speed camera to obtain the size conversion factor between the camera's natural unit (pixel) and the commonly used physical length unit.

[0059] The relationship between the target size in the image and the actual size of the target can be expressed by the following formula:

[0060] Among them, d image Indicates the size of the target in the image, expressed in pixels, d reality It represents the actual size of the target, expressed in millimeters, SF represents the scale displacement factor, that is, the actual size corresponding to the unit pixel. D represents the distance from the camera to the target, f is the effective focal length, d Pixel Indicates the actual size of a single pixel.

[0061] Step six, set the high-speed camera shooting frame rate to 1000 frames per second, and the shooting format at this frame rate is 1280×800, capturing the complete process of pesticide droplets hitting the Shucha Zao leaves.

[0062] Step 7: Use image processing technology and curve fitting technology to process and analyze the recorded images, and extract the vibration parameters of the Shuchazao leaves after being hit by pesticide droplets. The specific steps include:

[0063] (1) Extract the leaf edge of Shucha Zaocha tea leaves. The original image contains a lot of redundant information, which affects the accuracy of visual measurement and increases the amount of data processing by the computer. The leaf edge is an important feature of the leaf. The vibration of the leaf is also reflected in the curvature change of the leaf edge curve. Therefore, the leaf edge is the key information in the image. Extracting it can reduce the amount of data processing and speed up the calculation.

[0064] The extraction of leaf edges of Shucha morning tea trees includes: image grayscale processing, edge extraction, and opening and closing operations. The Canny contour detection algorithm is used to extract leaf edges. The part where the grayscale value of the local area of ​​the image changes dramatically mainly occurs at the edge of the leaf. The grayscale profile of this area can be regarded as a step. There is a large difference between the grayscale value of the edge area and the grayscale value of the background area. The grayscale value range of the droplet is 67-252, and the grayscale value of the background area is 51-95. Opening and closing operations are used to remove noise in the image. There will be some noise in the image after Canny edge detection, and the noise is mainly distributed at the petiole. The opening and closing operations can be used to erode these noise points to avoid the interference of image noise points on the accuracy of subsequent calculation results.

[0065] (2) Selecting marker points on the leaf edge. The selection of marker points is particularly critical for subsequent tracking detection and extraction of vibration parameters. The difficulty of marker point extraction and the tracking effect of marker points are also important factors to be considered in the marker point selection process. Since the Shucha Zaocha leaves are small in shape and thin in thickness, it is not suitable to place artificial targets as marker points. Therefore, the characteristic factors of the leaves themselves should be considered when selecting marker points. Since the deflection at the tip of the leaf is the largest, the linear displacement perpendicular to the axis after being hit by pesticide droplets should be the largest. Capturing the movement at this point can obtain the maximum amplitude of the Shucha Zaocha leaves; the vibration characteristics at the tip of the leaf are most obvious, so taking the tip of the leaf as the marker point is also the most convenient for marker point recognition and motion capture image analysis.

[0066] (3) Analyze and obtain the change of the coordinates of the blade marking points over time. Track the change of the coordinates of the blade marking points in Matlab. The initial time is the zero time, and the initial displacement of the blade is 0. Figure 2 The figure shows the coordinate change of the marker point P. The displacement value of the marker point P is Where SF represents the size displacement factor, Δx represents the change in the x direction, and Δy represents the change in the y direction. After the leaves of Shuchazao are hit by pesticide droplets, they vibrate. The oscillation decays under the retardation of air and clamping. At this time, the position of the marker point and the motion trajectory of the vibration can be tracked to obtain the oscillation decay curve, such as Figure 4 shown.

[0067] (4) Using the oscillation decay type autocorrelation function, the oscillation decay curve of the amplitude of the marked point changing with time is fitted. The unit of measurement of the displacement of the marked point in the high-speed visual measurement process is usually expressed in pixels. Using microscopic photography technology to record the leaf vibration dynamics process in real time, it is found that the pixels of the marked points of the Shucha Zao leaves under the impact of multiple droplets are between a few pixels and more than ten pixels; because pixels are generally represented by integers and the range of variation is not large, the resulting measured extracted curve is not smooth. To this end, the curve fitting technology based on Matlab is used, and the fitting evaluation method combining the coefficient of determination (R-square) and the root mean square error (RMSE) is used to fit and smooth the above curve. In the curve fitting process, the displacement result (t, y(t)) of the displacement of the marked point can be approximated by a curve. The approximate curve will not pass through the given point, but in order to make the approximate curve as close as possible to the motion law reflected by the measurement point, the oscillation decay type autocorrelation function with the y value of 0 at the initial moment can be expressed as: y(t) = Ae (-α*t) cos(ω*t). Where y(t) is the displacement; represents the amplitude change in the time domain, α is the attenuation coefficient, when α is greater than zero, it decays exponentially; ω represents the oscillation frequency. Therefore, A, α, and ω can quantitatively describe the change in the time domain of the marker displacement.

[0068] (5) Analyze the fitting results. The fitting results were analyzed in the Matlab curve fitting toolbox to obtain the vibration parameters of the Shucha Zao leaves after being hit by pesticide droplets, where the vibration parameters include the maximum amplitude, oscillation period, and oscillation attenuation coefficient. The specific measured data are as follows (A: amplitude, α: attenuation coefficient, ω: circular frequency):

[0069]

[0070]

[0071] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A method for measuring the micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology, characterized in that: The following steps are involved: Step 1: Establish a Shucha Zao leaf vibration parameter measurement system, which includes a droplet generation system and a high-speed imaging processing system. The droplet generation system is used to generate continuous and uniform pesticide droplets of variable particle size and spray the droplets onto the Shucha Zao leaves. The high-speed imaging processing system is used to record video images of the Shucha Zao leaves after being hit by pesticide droplets and process the video images. Step 2: horizontally clamp the petiole end of the Shuchazao leaf, and use the droplet generation system to make the pesticide droplets hit the center of the leaf surface; Step 3: Use a high-speed imaging processing system to capture the complete dynamic process of pesticide droplets impacting the leaves of Shuchazao; Step 4: using a high-speed imaging processing system to process and analyze the complete dynamic process of pesticide droplets impacting the leaves of Shuchazao, and extracting vibration parameters of the leaves of Shuchazao after being impacted by pesticide droplets; Among them, in step 4, the processing and analysis method specifically includes the following steps: (1) Extracting the leaf edges of Shucha Zaocha tea leaves: graying the image captured by the high-speed camera, and then extracting the edges to remove noise in the image; (2) Select the marking points on the leaf edge; (3) Analyze and obtain the change of the coordinates of the leaf marking points over time, and obtain the oscillation attenuation curve of the amplitude of the Shu Zao Tea marking points over time; wherein, the analysis method is as follows: track the coordinate changes of the leaf marking points in Matlab, the initial time is the zero time, the initial displacement of the leaf is 0, after being hit by the pesticide droplets, the Shu Zao Tea leaves vibrate, and then the oscillation is attenuated by the damping, the damping includes the fixture damping and the air damping, and the oscillation attenuation curve can be obtained after tracking the time domain changes of the marking points; (4) The modified fitting results are evaluated by combining the coefficient of determination with the root mean square error. For the oscillating decay autocorrelation function with an initial y value of 0, it can be expressed as y(t) = Ae (-α*t) cos(ω*t), where y(t) is the displacement; Ae (-α*t) It represents the amplitude variation with time domain, α is the attenuation coefficient, when α is greater than zero, it decays exponentially, and ω represents the oscillation frequency; (5) Analyze the fitting results and obtain the vibration parameters of the Shucha Zao leaves after being hit by pesticide droplets. The fitting results are analyzed in the Matlab curve fitting toolbox to obtain the vibration parameters of the Shucha Zao leaves after being hit by pesticide droplets. The vibration parameters include maximum amplitude, oscillation period and oscillation attenuation coefficient.

2. The method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology according to claim 1 is characterized in that: In the step 1: The droplet generation system includes a piezoelectric ceramic ring, a nozzle, a micro-injection pump, an arbitrary waveform generator, a high-frequency power amplifier, an oscilloscope and a support frame, wherein the support frame is used to place the Shucha Zao leaves, the micro-injection pump is connected to the nozzle, the piezoelectric ceramic ring is assembled on the nozzle, the arbitrary waveform generator is used to send an electrical signal to the piezoelectric ceramic ring to generate mechanical vibration, the high-frequency power amplifier is used to amplify the electrical signal sent by the arbitrary waveform generator, and the oscilloscope is used to control and adjust the signal sent by the arbitrary waveform generator; The high-speed imaging system includes a high-speed camera for image acquisition and a computer terminal for controlling the high-speed camera and processing data.

3. The method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology according to claim 2 is characterized in that: The nozzle is provided with a jet nozzle, the microinjection pump is used to adjust the jet speed of the jet nozzle, and the aperture of the jet nozzle is used to adjust the particle size of the sprayed pesticide droplets; The droplet generation system also includes a liquid storage device, which is used to store pesticides and is connected to a micro-injection pump.

4. The method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology according to claim 1 is characterized in that: The specific operation of step 2 is as follows: S1. Clamp the petiole end of the Shuchazao leaf horizontally on a support frame and place it directly below the jet nozzle to ensure that the pesticide droplets hit the center of the leaf surface; S2. Adjust the microinjection pump to the suction mode to suck the liquid into the liquid reservoir, and then switch to the injection mode to supply the liquid from the pressurized liquid reservoir to the nozzle at a constant flow rate, and the nozzle is equipped with a piezoelectric ceramic ring; S3. Use an arbitrary waveform generator to send a driving signal to the piezoelectric ceramic, use a high-frequency power amplifier to amplify the driving signal, and use an oscilloscope to adjust and control the driving signal to ensure that the injection pump can stably and continuously spray droplets.

5. The method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology according to claim 4 is characterized in that: The specific operation of step three is as follows: S1. Fix the high-speed camera on a tripod; S2. Use a ruler as a target to calibrate the high-speed camera, build the relationship between the natural unit of the camera and the length unit of the physical world, and obtain the size conversion factor between the two; S3. A high-speed camera was used to capture the complete dynamic process of pesticide droplets impacting the leaves of Shuchazao.

6. The method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology according to claim 5 is characterized in that: In step S2, the relationship between the target size in the image and the actual size of the target can be expressed by the formula: express; Among them, d image Indicates the size of the target in the image, expressed in pixels, d reality It represents the actual size of the target, expressed in millimeters, SF represents the scale displacement factor, that is, the actual size corresponding to the unit pixel, D represents the distance from the camera to the target, f is the effective focal length, and d Pixel Indicates the actual size of a single pixel; In step S3, the shooting frame rate of the high-speed camera is set to 1000 frames per second, and the shooting format at this frame rate is 1280×800; In step S4, the principle of three-dimensional binocular high-speed synchronous dynamic frequency measurement, microscopic high-speed dynamic photography technology combined with optical flow method are adopted, and multiple cameras are used to synchronously shoot the dynamic process of multiple droplets continuously impacting the leaf surface and the tip of the leaf shaking from multiple angles in all directions, so as to achieve stereoscopic observation and real-time collection.

7. The method for measuring micro-jitter parameters of Shuchazao leaves based on high-speed visual non-destructive technology according to claim 1 is characterized in that: In the step (1), the Canny contour detection algorithm is used to extract the leaf edge, and the opening and closing operations are used to remove the noise in the image; In the step (2), a marking point is selected on the tip of the leaf edge.

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