中文摘要：

立木整枝机器人在整枝作业过程中需要实时自动识别立木枝杈点并计算出其相对空间位置关系．该文给出了一种适用于立木整枝机器人的立木枝杈点识别新方法．该方法首先使用数学形态学方法对图像进行二值化处理，然后对二值图像进行骨架化处理，最后将骨架化后的图像与一个3×3的全1矩阵构成的模板进行卷积运算；卷积结果大于给定阈值3的像素点就是枝杈点位置．实验证明，该方法能够比较准确地检测到立木图像枝杈点并计算出枝杈点的位置．

英文摘要：

identification of the intersections of trunks and branches is necessary in processing standing tree pruning by robot. Calculation for the relative space position of the intersections is also necessary. This paper presents a new method to identify the intersections of trunks and branches that can be used in standing tree pruning robot. The method includes four steps： 1 ） transforming the gray image into the binary image using the mathematical morphological method; 2 ） getting the skeleton of the trunks in the binary image via the mathematical morphological method; 3 ） calculating the convolution integration between the skeleton of the trunks and a template that is a 3 × 3 matrix, whose elements are all one; 4） comparing the result of the convolution integration with the given threshold, which is 3 in this paper. If the result is more than the threshold, the pixel is an intersection. The experimental results demonstrate that the method is available for automatic identification of the intersections and for automatic calculation of the relative space position of the intersections.