Linux下机器人数字化图像采集系统软件设计

Software Design of Digital Image Capture System for Robots under Linux

本文介绍了Linux操作系统下机器人数字化图像采集系统软件设计开发,主要包括CMOS图像传感器的驱动开发流程,并在完成驱动程序的基础上实现了图像采集以及网络传输的应用程序的开发。驱动程序开发以Linux下Video4 Linux(V4L)驱动接口为基础,具体介绍图像传感器驱动程序的一般框架,以及V4L驱动接口、I2C总线驱动接口和CMOS芯片的寄存器配置。应用程序开发以V4L接口为基础实现了图像实时采集与网络传输图像到监控中心的功能。

Software design of digital image capture system for robots under Linux OS, such as device driver work flow for CMOS image sensors and the applications for image capturing and transferring by Ethernet on the basis of the device driver are introduced in this paper. The driver for image sensor is developed according to Video4Linux （V4L） driver interface. And then the basic framework of device driver for image sensors, the V4L driver interface, I2C bus driver interface and the registers configuration of CMOS chip are described with detail. The applications based on V4L interface are also developed to capture real-time images and transfer images to the control center through Ethernet.