果树三维外形轮廓的仿真与重建.pdf

第 30 卷第1 期 华南农业大学学报 Vol. 30 , No.1 2009 年 1 月 Journa1 of South China Agricultura1 Univer百ity Jan. 2009 果树三维外形轮廓的仿真与重建 李 松1 ， 2 ，张建辄2 ，可欣荣2 ，洪添胜2 (1广州数控设备有限公司，广东广州 510156; 2 南方农业机械与装备 关键技术省部共建教育部重点实验室，华南农业大学工程学院，广东广州 510642) 摘要:根据检测到的果树二维图像，建立了果树三维外形轮廓和喷头定位曲面.利用拍摄到的 1 个或有限个二维图 像，经坐标变换得到近似的果树外形轮廓，以及与果树外形轮廓相对应的喷头定位曲面.通过具体的仿真算例，表 明对于比较对称的果树，由 1 幅图像就可得到其精确的外形轮廓，而由多幅图像建立果树外形轮廓的方法则适用 于不对称的果树. 关键词:果树;外形轮廓;精确喷雾;图像处理 中图分类号349 文献标识码:A 文章编号: 1001-411X(2009)01-0094-05 Simulation and Reestablishment of the Fruit-Tree s Three-Dimensional Profile Surface 1 2 2 2 LI Song ,2 , ZHANG Jian-ling , KE Xin-rong , HONG Tian-sheng (1 GSK CNC Equipment CO. LTD. , Guangzhou , 510156 , China; 2 Key Laboratory of Key Technology on Agricultura1 Machine and Equipment , Ministry of Education , College of Engineer吨， South China Agricultura1 University , Guangzhou 510642 , China) Abstract: The methods to establish the fruit -tree s three-dimensional profile surface and the optimum spraying location of nozzles were studied. The approximate profile surface equation of fruit-tree was ob- tained with one image and several imsges respectively. The corresponding location surface or location spaces of nozzles were also achieved , with the spraying distance between nozzles and fruit-tree surface be- ing optimum or suboptimum. The simulation examples were given , and the results showed that the three- dimensiolal profile surface of symmetrical fruit-tree could be reestablished wi