摘要随着科学技术的不断进步与发展，智能机器被用来代替人类进行一些耗时长且操作行为单一重复的工作。完成这类工作的机器往往需要一定的“可视”能力，这种使得机器拥有可视能力的系统被称为“机械视觉系统”，该系统一般由“图像采集系统”，“图像处理系统”和“图像传输系统”构成，其中图像采集系统为整套系统的前端系统，负责为后续系统快速而准确地提供图像数据，就像人的双眼，尤为重要。47857

本文提供了一套基于树莓派的嵌入式图像采集系统的实现方案，设计期间完成已经平台的搭建，树莓派的开发和摄像头采图程序的编写。针对树莓派完成了操作系统的移植，为了编写树莓派可执行的代码文件完成了交叉编译平台和开发环境的搭建；针对摄像头完成了基于UVC协议和V4L2驱动的代码编写，使系统拥有独立自主的图像采集能力。最后针对摄像头采集的YUV数据进行格式转换，将图片格式转换成RGB格式，完成采集后的图像处理工作，并对系统的性能做出调试和分析。

相比于其他系统模型，本文提出的系统得益于树莓派突出的尺寸优势与运算处理能力以及Linux系统强大的网络能力，将使系统具有图像分辨率高，响应时间短，可靠性高，能耗低，灵活简便，安装调试方便的优势。

毕业论文关键词  嵌入式系统，图像采集，树莓派，UVC协议，V4L2驱动，Linux系统

毕业设计说明书外文摘要

Title  Design of embedded image acquisition system based on raspberry pie

Abstract

With the continuous progress and development of science and technology，intelligent machines are used to take the place of human beings to carry out some long and repetitive work. This kind of machines are usually required a certain "visibility" capability, this system is called "machine vision system", the system is generally composed of image acquisition system, image processing system and image transmission system. Image acquisition system is the front end of the whole system, it is responsible for providing image data quickly and accurately for the following parts, just like people's eyes, especially important.

This paper introduces an embedded image acquisition system based on raspberry pie. During the design period,the hardware platform had been built, towards raspberry pie,the transplantation of the system and the construction of cross compiling and programming environment had been completed .Camera programming based on UVC protocol and V4L2 driver had been finished,and the capability of independent image acquisition had been given to the system successfully.Then the raw YUV bit stream captured by the camera had been decoded and converted into RGB format.Finally the performance of the system had been tested and the analysis had been done.

Compared to other system model, the system proposed in this paper benefits from raspberry pie’s  outstanding advantages of size and operational and Linux system’s excellent network capability make the system has edges of high image resolution, short response time, high reliability, low energy consumption, convenient and flexible to use, and convenient in installation and commissioning.

Keywords  Embedded system, Image acquisition, raspberry pi, UVC protocol, V4L2 driver, Linux system

目   次

1 绪论1

1.1 研究背景1

1.2 研究现状1

1.3 本文主要工作及章节安排2

2 系统的开发原理4

2.1 硬件平台4

2.1.1 树莓派4

2.1.2 摄像头4

2.2 软件协议与驱动5

2.2.1 UVC协议5

2.2.2 V4L2驱动7

2.3本章总结7

3 系统的开发8