通过对枇杷枝条特征图像的分析，提出了一种枇杷枝条图像识别和框架提取的方法． 该方法首先通过对亮度进行转换，找到通用的分割阈值;然后将分割图像和转换的二值图像进行叠加，获取初始枇杷枝条特征图像;再利用枇杷枝条的连枝特征进行第二次特征图像的提取和噪音的消除;之后通过枝条边界轮廓和非合理间断部分的补偿处理，完成枇杷枝条框架的提取，获得机器人修剪所需的枇杷枝条直径和中心点坐标． 文中还通过实例对该方法的准确性进行了验证，枇杷枝条图像正确识别率达 91. 2%．

Proposed in this paper is a method of image recognition and framework extraction for loquat branches，which is based on the analysis of the image characteristics of loquat branches． In this method，first，a common seg-mentation threshold is determined by transforming the brightness intensity． Then，the initial characteristic image of branches is obtained by the superposition of the segmented image and the converted binary image． Moreover，the linked feature of loquat branches is used to extract the image feature again and to eliminate the background noise．Finally，a compensation of the boundary contour and non-rational discontinuity of branches image is made to imple-ment the extraction of branches frame and to acquire the branche diameter and the center coordinates for robot prun-ing． A case study is also carried out to verify the accuracy of the proposed method，and an identification rate of 91．2% is obtained．