中文摘要：

针对当前的农药喷雾飞行器需要人时刻观察是否飞出农田边界这一情况,从机器视觉的角度出发,综合嵌入式、图像处理和测控等技术,设计了一种以ARM Contex-A8平台为核心的农药喷雾飞行器越界控制系统.首先,采用混合高斯模型算法进行目标检测,通过计算目标的形状描述符来获得形状特征并进行目标定位.然后,计算目标的质心位置同时结合运动方向来判断飞行器是否出界.最后,根据综合判断的结果,用无线模块控制农药喷雾飞行器的飞行方向.实验结果表明,该系统能够很好地识别到农药喷雾飞行器,并能精准定位和越界判断,实现了无人操控,提高了工作效率.

英文摘要：

In view of the ordinary pesticide-spraying aircraft need people to judge whether the aircraft flied out the farmland boundaries all the time, this paper proposes an automatic checkout and control system which is based on ARM Contex-A8 platform and combined with embedded technology, image processing technology and control technology. First, the gaussian mixture model al- gorithm is used to detect the targets and get its features of shape by calculating the shape descriptor for the target localization. Second, the centroid position of the targe is calculated and analyzed together with its flight paths for estimating whether the aircraft is out of the boundary. At last, the aircraft paths are controlled intelligently according to the results of the computations through the wireless module. The experimental results show that the system is able to control the pesticide-spraying aircraft flying accurately, achieve unmanned-control and improve the working efficiency.