Software Design of Digital Image Capture System for Robots under Linux

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.