Study Of Real-time Image Preprocessing System For Network Teleoperation

This paper that was based on 863 plans of "Live-line Maintain Robot System", through analyzing the Robot Visual Servo Control Technique that was used in Tele-Operated Robot based on Network and the domestic and international Live-line Maintain Robot development, using Embedded system technology, FPGA Image Processor technology and network communication technology, researched and developed real-time Image Pretreatment system for Network Tele-Operation.At first, the thesis chose the Monocular Vision scheme, combining the characteristic of Network Tele-Operated Robot, put forward the requisition of image network transmission, then determined the scheme of First Pretreatment and next to network transmission, through comparing the good and bad points of DSP, ASIC and FPGA, and also considering the actual image processor situation, chose the FPGA that has parallel processing ability to complement the real-time Image Pretreatment.This paper selected the embedded microprocessor and RTOS scheme to built embedded remote server, and designed the hardware circuit of embedded server and real-time image pretreatment. Inside of FPGA, design the video collecting module, image pretreatment module and so on. It can compliment the fast collecting of image, filtering and Image threshold Segmentation.This paper studied the multi-task environment of VxWorks deeply, designed the software of remote server, researched on socket communication based on TCP and developed the application program of control point.At last, the capability of system was tested, and the result reach anticipate purpose.