KR20080010017A - Data transmission processing device and transmission method thereof - Google Patents

Abstract

A data transmission processing device and a transmission method thereof are provided to extend the transmission distance of image data by using an optical converting device and reduce the volume of the entire cable by optical cables, thereby solving large scale installation of equipment. A data transmission processing device comprises a signal converting unit(200), a data processing unit(300), and an image processing unit(400). The signal converting unit converts image data transmitted from plural cameras(100) into an optical signal. The data processing unit requests the retransmission of the optical signal to the signal converting unit according to whether an error occurs in the image data of the converted optical signal and controls the plural cameras and the signal converting unit. The image processing unit receives and processes the image data from the data processing unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a data transmission processing apparatus,

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view for explaining a connection structure of a data transmission apparatus according to the prior art; FIG.

2 is an example of a timing diagram of a data transmission apparatus according to the prior art.

3 is a block diagram of a connection structure of a data transmission processing device according to a preferred embodiment of the present invention;

4 is a block diagram of a configuration of a data transmission processing device according to the present invention;

5 is a packet structure of image data and control signals according to the present invention;

6 is a flowchart for explaining a data transmission method by a data transmission processing apparatus according to the present invention.

7 is an example of a timing diagram of an image processing apparatus interface according to the present invention.

DESCRIPTION OF THE REFERENCE NUMERALS

100: camera 200: signal conversion unit

202: camera interface 204: image packet generating unit

206: image packet storage unit 208: serialization unit

210: first light converting section 212: control packet decoder

214: retransmission management unit 216: trigger generation unit

218: control register 220: response packet generation unit

300: Data processing unit 310: Second optical conversion unit

320: image packet decoder 330: image processing device interface

340: control packet generation unit 350: response packet decoder

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a data transfer apparatus, and more particularly, to a data transfer apparatus and method for transferring image data using a photoelectric conversion apparatus.

The machine vision used in the industrial field is an inspection device in which a camera performs a production inspection in place of a human eye. The transmission apparatus in the machine vision performs a function of transmitting image data output from a line scan camera to an image processing apparatus. The line scan camera has a data transfer rate of 40 MB / s to 80 MB / s per charge coupled device (CCD) output, and a camera having a CCD output of 8 times is also available. Accordingly, the transmission speed of the line scan camera reaches 160 MB / s to 640 MB / s. Currently, the inspection equipment is required to increase the number of cameras and transmission distance for inspection of a large area and high resolution using the ultra-high speed line scan camera.

FIG. 1 is a view for explaining a connection structure of a transmission apparatus according to the related art, and FIG. 2 is a diagram for explaining an example of a timing diagram of a transmission apparatus according to the related art. Hereinafter, a path through which image data is transmitted by a conventional transmission apparatus will be described with reference to FIGS. 1 and 2. FIG.

When the transmission device 10, for example, a frame grabber, generates a trigger signal as shown in FIG. 2, the plurality of cameras 20a to 20d are activated in accordance with the trigger signal, and outputs one line of image data together with a valid signal. Here, the image data is valid when the line valid signal is 'high'. The image data of one line consists of hundreds to tens of thousands of pixels.

A camera link standard, which is an industry standard, is mainly used when the image data is transferred from the camera 20 to the transmission apparatus 10. The maximum transmission distance of the camera connection standard is limited to 10 m. When the distance exceeds 10 m, signal attenuation occurs. Therefore, a repeater is required to reproduce a signal or increase an output voltage.

The camera 20 and the transmission device 10 are connected by two cables. That is, a data transmission line A in which image data is transmitted from the camera 20 to the transmission device 10, And a trigger signal line (B) transmitted from the device (10) to the camera (20).

The transmitting apparatus 10 receiving the image data as an input multiplexes the multiple image data received from the plurality of cameras 20 and transmits the multiplexed image data to the image processing apparatus 30 responsible for image processing.

However, the above-described conventional techniques have the following problems.

Since the transmission distance of the transmission device according to the camera connection standard is limited and the image data transmission line and the trigger signal line must be provided for each camera, it takes a lot of volume to construct a large-scale equipment using multiple cameras, .

Since the line has a unidirectional data flow, data can not be recovered in the event of a data error.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a transmission processing device for expanding a transmission distance of image data using a photoelectric conversion device, And to provide the above objects.

Another object of the present invention is to control a plurality of cameras with a pair of control lines.

According to an aspect of the present invention, there is provided an image processing apparatus including: a signal converter for converting image data transmitted from a plurality of cameras into an optical signal; A data processor for requesting retransmission of an optical signal to the signal converter according to whether an error occurs in the image data of the converted optical signal, and controlling the plurality of cameras and the signal converter; And an image processing apparatus for receiving and processing the image data from the data processing unit.

Wherein the signal conversion unit comprises: a camera interface that receives image data from the plurality of cameras; An image packet generating unit for generating the image data as an image packet; An image packet storage unit for temporarily storing the image packet generated by the image packet generation unit; A serializer for serializing the image packet stored in the image packet storage; And a first conversion unit converting the serialized image packet into an optical signal and transmitting the optical signal to the data processing unit.

A control packet decoder unit for decoding the control packet transmitted from the data processing unit through the first conversion unit; A trigger generator for generating a trigger signal to the camera to receive image data from the camera according to the decoded control signal; And a retransmission management unit for retransmitting the image packet stored in the image packet storage unit according to the decoded other control signal.

The image packet generating unit may generate image control data including a line control packet and a plurality of image data packets,

The image data packet includes at least one of a packet type pkt_type, an extra rsv, a packet ID, a camera ID, an image data, an error checksum, an EOP indicating an end of a packet, end of packet.

The line control packet includes an identifier (LCP), a type of a line control packet indicating the start and end of a line (LCPTYPE), a packet ID, a camera ID, a line ID indicating a line number, And an end effector.

Wherein the data processing unit comprises: a second conversion unit for converting an optical signal output from the first conversion unit into an image packet and a response packet; An image packet decoder for decoding the image packet and requesting retransmission to the signal converter according to whether an error has occurred; An image processing apparatus interface dividing the decoded image data into a plurality of sub data and transmitting the decoded image data to the image processing apparatus; And a control packet generation unit for generating a control packet for requesting retransmission of the image packet decoder unit and for controlling the camera and the signal conversion unit, and transmitting the generated control packet to the signal conversion unit.

And the image processing apparatus interface outputs four sub data in one cycle.

The image processing apparatus interface is characterized by applying a double data rate (DDR) or a quad data rate (QDR).

The image processing apparatus interface transmits a plurality of sub data corresponding to one image packet and transmits checksum information for confirming whether the image packet is normal.

Wherein the image processing apparatus interface transmits the image data transmitted from a plurality of cameras.

The control packet includes a retransmission request signal and a control signal.

The packet of the retransmission request signal includes an identifier, a camera ID, an acknowledgment or an acknowledgment indicating whether a retransmission is requested, an acknowledgment (ack or nack identifier), a packet ID of an image packet transmitted, an extra, and a checksum.

The control signal includes a trigger control signal generated from a trigger source, a camera control signal for camera control, and the signal converter control signal for setting a control register of the signal converter.

The packet of the trigger control signal includes trigger control signal identifier information (trigger packet identifier) and checksum information.

The packet of the camera control signal includes camera UART packet identifier, camera UART data, and checksum.

And the signal included in the control packet has priority in the order of the trigger signal, the retransmission request signal, the signal converter control signal, and the camera control signal.

And the signal conversion unit and the data processing unit are connected through an optical cable.

And the optical cable includes a plurality of image data channels and two control channels.

According to another aspect of the present invention, there is provided an image processing method including receiving image data from a plurality of cameras; Generating image data of the transmitted image data and temporarily storing the generated image data; Transmitting the image packet through an optical cable; Decoding the transmitted image packet to separate the image data and determining whether an error has occurred; And requesting retransmission of the image data according to the determination result.

The receiving of the image data is characterized in that the image data is received in response to a trigger signal for requesting transmission of the image data.

Wherein the image data transmission is characterized in that a transmission period is determined by the trigger signal.

And the transmission period of the trigger signal is determined by a timer or a position encoder.

And retransmits the stored image packet according to the retransmission request.

And the retransmission of the image packet is performed when the retransmission request signal does not arrive after a predetermined time elapses after the transmission of the image packet.

The image data included in the decoded image packet is divided into a plurality of sub data and transmitted to the image processing apparatus.

The sub data is characterized in that four sub data are transmitted in one cycle.

After transmitting the plurality of sub data corresponding to one image packet, checksum information is transmitted to check whether the image packet is normal.

And the image data transmitted from the plurality of cameras is transmitted to the image processing apparatus during one line valid period.

According to the present invention having such a configuration, the transmission distance of image data is increased and the volume of the entire cable is reduced by using the photo-conversion device. When the error of the image data occurs, the image data is retransmitted through a retransmission request.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a data transfer processing apparatus and a transfer method thereof according to the present invention will be described in detail with reference to the preferred embodiments shown in the accompanying drawings.

A connection structure of a data transfer processing apparatus according to a preferred embodiment of the present invention will be described in detail with reference to FIG.

The plurality of cameras 100 and the signal conversion unit 200 are connected to each other through a camera connection cable, for example, a coaxial cable. The camera connection cable includes a data transmission line A 'through which image data output from the camera 100 is transmitted and a control signal line B' through which a trigger signal generated from the signal conversion unit 200 is transmitted. Respectively. The data transmission line A 'and the control signal line B' are provided for each camera. That is, when four cameras are used, a total of eight cables connected to the signal conversion unit 200 are connected to four data transmission lines (A ') and four control signal lines (B'). At this time, it is preferable that the cable length between the camera 100 and the signal conversion unit 200 is minimized.

The signal conversion unit 200 and the data processing unit 300 are connected by an optical cable and the optical cable includes an image data channel C for transmitting a plurality of image data and a pair of control channels RX / do. For example, when there are four cameras, the optical cable is composed of four optical data channels (C) and two control channels (D), and is composed of a total of six optical fibers. The data processing unit 300 transmits data to the image processing apparatus 400 via a coustom bus.

Next, the configuration of the data transfer processing apparatus according to the present invention will be described in detail with reference to FIG.

The data transfer processing apparatus includes a signal conversion unit 200 for converting the image data received from a plurality of cameras 100 outputting image data corresponding to one line into an optical signal, that is, an optical converter Respectively. Here, when the trigger signal is generated from the signal converter 200, the camera 100 transmits the image data to the signal converter 200. A data processor 300 for requesting retransmission of the image data included in the converted optical signal to the signal converter 200 and transmitting the image data to the image processor 400, frame grabber. An image processing apparatus 400 for signal processing the image data is provided.

Next, the configuration of the signal change unit 200 and the data processing unit 300 will be described in detail.

The signal conversion unit 200 includes a camera interface 202 for receiving the image data from the plurality of cameras 100 and an image packet generation unit 204 for generating the image data as image packets. Here, the image packet generation unit 204 generates the image data corresponding to one line as a plurality of image packets and a line control packet indicating the start and end of a line. The line control packet replaces the role of the line valid signal in the prior art. Accordingly, in the present invention, the camera 100 transmits only the image data without transmitting a line valid signal together when transmitting image data.

5A, the image packet includes at least one of a packet type pkt_type, reserved, a packet ID, a camera ID, image data, a checksum for error detection, And an end of packet (EOP) to inform the end. As shown in FIG. 5B, the line control packet includes a line control packet (LCP), a type of line control packet (LCTYPE) indicating the start or end of a line, a packet ID, a camera ID, Line, followed by an error checksum and an error code. The image data packet and the line control packet are transmitted in the order of the line start packet of the line control packet, the plurality of image data packets, and the line control packet sequence informing the end of the line as shown in FIG. 5C. By dividing one line image data into a plurality of image packets as described above, when a data error occurs, only the corresponding image packet is retransmitted, so that data recovery can be performed with minimum time loss.

The image packet storage unit 206 temporarily stores the image packet output from the image packet generation unit 204. Next, a serialization unit 208 for serializing the image packet, and a first conversion unit 210 for converting the serialized image packet into an optical signal and outputting the optical signal to the data processing unit 300 are provided. The first converter 210 converts an electrical signal into an optical signal or converts an optical signal into an electrical signal.

A control packet decoder 212 for decoding a control packet received from the data processing unit 300 through the first conversion unit 210 and separating a control signal is provided. Here, the control signal includes a trigger control signal, a camera control signal, a control signal of the signal converting unit 200, and a retransmission request signal of the image data. And a retransmission management unit 214 for controlling retransmission of the image packet stored in the image packet storage unit 206 according to the retransmission request signal decoded by the control packet decoder 212. If the retransmission management unit 214 determines that there is a retransmission request from the data processing unit 300 or a time out due to the elapse of a predetermined time after the transmission of the image packet, . Alternatively, the retransmission management unit 214 deletes the image packet stored in the image packet storage unit 206, or deletes the first packet in the first-in first-out (FIFO) mode if there is no retransmission request from the data processing unit 300. [ It is automatically deleted when a certain memory capacity is reached according to the method.

The trigger generator 216 generates a trigger signal according to a trigger control signal generated by the control packet decoder 212. Here, the trigger signal is a driving signal for controlling the camera 100 so that the camera 100 transmits the image data. The control signal of the signal conversion unit 200 includes a signal generated for mode setting and diagnosis of the signal conversion unit 200. And a control register 218 for storing a value set by the control signal of the signal converting unit 200, a diagnostic routine, and the like. Next, a response packet generator 220 for generating a response packet for the camera control signal and the trigger control signal as a response packet is provided.

Next, the data processing unit 300 includes a second conversion unit 310 that receives and optoelectrically converts the optical signal output from the signal conversion unit 210. And an image packet decoder 320 for decoding the image packet converted by the second conversion unit 310 and separating the image data. Here, the image packet decoder 320 checks whether or not an error has occurred, and outputs an acknowledgment signal (ACK) if it is normal and a negative acknowledgment signal (NACK) if there is an error, that is, a retransmission request signal.

An image processing apparatus interface 330 for transmitting the decoded image data to the image processing apparatus 400 is also provided. Here, the image processing apparatus interface 330 divides the decoded image data from one image packet into a plurality of sub data according to the transmission bandwidth and transmits the sub data. At this time, the image processing apparatus interface 330 transmits four sub data per cycle using a data transmission mode of a double data rate (DDR) or a quad data rate (QDR). In the DDR mode, two data are transmitted per one cycle. When the clock provided in the data processing unit 300 is doubled, the DDR mode is applied to the DDR mode. Therefore, Data, and the QDR mode transmits four data per cycle. The image processing apparatus interface 330 transmits a plurality of sub data corresponding to one image packet, and then transmits checksum information for checking whether the image packet is normal.

In addition, a control packet generator 340 for generating a retransmission request signal and a control signal by the image packet decoder 320, that is, a trigger control signal, a camera control signal, and a signal converter control signal, as control packets is provided. As shown in FIG. 5D, the packet of the retransmission request signal generated by the control packet generator 340 includes a retransmission request signal identifier, a camera ID, an acknowledgment indicating whether a retransmission is requested, or ack / nack identifier, A packet ID of a transmitted image packet, and a bit interleaved parity (BIP-8), which is a kind of checksum. 5E, the packet of the trigger control signal includes a trigger control signal identifier and a checksum, and the packet of the camera control signal shown in FIG. 5F includes a camera control signal identifier, data, and checksum information. The control packet has a priority, and the trigger control signal has the highest priority since the transmission period has to be maintained, and the retransmission request signal of the image packet has the next highest priority and then the camera control signal and the signal conversion The sub control signal has the next priority. Thereafter, a response packet decoder 350, which is generated by the response packet generation unit 220 and decodes a response packet transmitted through the first and second conversion units 210 and 310 and separates a response signal, is provided.

Hereinafter, a method of transmitting image data by a transmission processing apparatus having the above-described configuration will be described step by step with reference to FIG.

The signal conversion unit 200 receives image data corresponding to one line from the plurality of cameras 100 (S100). When the trigger signal generated by the trigger generator 216 of the signal converter 200 is received, the camera 100 transmits the image data. At this time, the transmission period of the image data is determined by the trigger signal, and the transmission period of the trigger signal is determined by a timer or a position encoder. For example, when the trigger control signal output from the timer is transmitted to the trigger generating unit 216 of the signal converting unit 200 through the control channel TX, the trigger signal generated by the trigger generating unit 216 is And transmitted to the four cameras 100. At this time, each camera 100 outputs the image data in response to the trigger signal.

The image packet generation unit 204 receiving the image data from the camera 100 via the camera interface 202 generates the image data packet shown in FIG. 5A by dividing the image data, And generates a line control packet indicating start and end of the corresponding image data (S102). The image packet generated in this way is temporarily stored in the image packet storage unit 206.

Then, the serializer 208 serializes the image packet stored in the image packet storage 206, and the serialized image packet is transmitted through the first converter 210 (S104). At this time, the first conversion unit 210 converts an electrical signal into an optical signal.

The data processor 300 receives the optical signal from the first converter 210 through the second converter 310 and decodes the image packet by the image packet decoder 320 to separate the image data (S106). Next, the image packet decoder 320 determines whether an error has occurred using the checksum of the image packet (S 108).

If it is determined in step 108 that the image packet is normal, the image processing apparatus interface 330 divides the decoded image data into a plurality of sub data according to the transmission bandwidth, and outputs the sub data to the image processing apparatus 400 S110). After transmitting a plurality of the sub data corresponding to one image packet, checksum information is transmitted to check whether the image packet is normal. Here, the image processing apparatus interface 330 applies QDR or DDR to transmit a large amount of data. For example, assuming that the bandwidth of one image channel is approximately 2.5 Gbps, the transmission bandwidth of the image processing apparatus interface 330 requires 1.25 Gbps when there are four cameras. The QDR transmission mode is used to transmit large amounts of data at a low clock frequency. When a 32-bit data bus is used, a bandwidth of 1.25 GB / s can be achieved with a clock of 78.125 MHz because it transmits 16 bytes per one clock. Alternatively, as shown in FIG. 7, PCLK, which is twice the PCLK / 2, which is the clock of the actual data processing unit 300, is used as a clock source, and data is output using a DDR transmission mode. Data can be transmitted. Here, only the sub data transmitted when the line valid (LV) and the packet valid (PV) are "low" are regarded as valid data. The channel (CH: channel) represents the camera information and corresponds to the camera ID. 'PV' is synchronized with the rising edge of 'PCLK', and 'LV' is valid in the area before one line image data transfer time. For example, assuming that one camera pixel number is 64, one image packet size is 8, and the number of cameras is 4, 8 packets per line are transmitted from one camera and 32 times per 1LV period, that is, 8 packets per camera This happens.

Then, the signal conversion unit 200 deletes the image packet stored in the image packet storage unit 206. That is, the image packet storage unit 206 is emptied.

If it is determined in operation 108 that there is an error in the image packet, the image packet decoder 320 generates a retransmission request signal (NACK) to the control packet generator 304. The control packet generator 340 generates the retransmission request signal as a control packet, converts the retransmission request signal into an optical signal through the second conversion unit 310, and transmits the optical signal to the signal conversion unit 200 (S112). The control packet decoder 212 of the signal converter 200 decodes the received control packet and separates the retransmission request signal. The retransmission management unit 214 receiving the retransmission request signal from the control packet decoder 212 controls the retransmission of the image packet temporarily stored in the image packet storage unit 206.

In step 104, the retransmission management unit 214 of the signal conversion unit 200 transmits the image packet to the data processing unit 300, and then transmits the image data from the data processing unit 300, If a response signal for data reception is not received, the image packet is retransmitted (S114).

As described above, in the present invention, the transmission distance of the image data is increased by using the photo-conversion device and the optical cable, and the volume of the entire cable is reduced, thereby facilitating installation of a large-capacity equipment to which a plurality of cameras are connected. Then, a plurality of cameras are controlled through a pair of control lines, and data errors can be processed by requesting retransmission.

The scope of the present invention is not limited to the above-described embodiments, and many other modifications based on the present invention will be possible to those skilled in the art within the scope of the present invention.

The following effects can be expected in the transmission processing apparatus and the transmission method according to the present invention as described above in detail.

First, since data is converted into an optical signal by using a photo-conversion device and transmitted, the transmission distance can be extended. Also, since a plurality of cameras are connected to each other by using an optical cable including a plurality of optical fibers having a diameter of less than 10 μm, the volume of the entire cable can be reduced.

Next, a plurality of cameras are controlled using a pair of control channels, and retransmission is requested upon occurrence of an error of image data, thereby increasing reliability of data transmission.

In addition, since a transmission mode such as QDR and DDR is applied, a large amount of data can be transmitted at a low clock rate. Therefore, it can be applied to a multi-drop bus.

Claims (29)

A signal converter for converting image data transmitted from a plurality of cameras into optical signals; A data processor for requesting retransmission of an optical signal to the signal converter according to whether an error occurs in the image data of the converted optical signal, and controlling the plurality of cameras and the signal converter; And And an image processing device for receiving and processing the image data from the data processing unit. The signal processing apparatus according to claim 1, A camera interface for receiving image data from the plurality of cameras; An image packet generating unit for generating the image data as an image packet; An image packet storage unit for temporarily storing the image packet generated by the image packet generation unit; A serializer for serializing the image packet stored in the image packet storage; And And a first conversion unit for converting the serialized image packet into an optical signal and transmitting the optical signal to the data processing unit. 3. The method of claim 2, A control packet decoder unit for decoding the control packet transmitted from the data processing unit through the first conversion unit; A trigger generator for generating a trigger signal to the camera to receive image data from the camera according to the decoded control signal; And And a retransmission management unit for retransmitting the image packet stored in the image packet storage unit according to the decoded other control signal. 3. The method of claim 2, Wherein the image packet generating unit generates a line control packet and a plurality of image data packets informing the start and end of the line image data. 5. The method of claim 4, The image data packet includes at least one of a packet type (pkt_type), an extra rsv, a packet ID, a camera ID, an image data, an error checksum, an EOP : end of packet). 5. The method of claim 4, The line control packet includes an identifier (LCP), a type of a line control packet indicating the start and end of a line (LCPTYPE), a packet ID, a camera ID, a line ID indicating a line number, And an end-of-data indicating end of the data. The data processing apparatus according to claim 1, A second conversion unit for converting an optical signal output from the first conversion unit into an image packet and a response packet; An image packet decoder for decoding the image packet and requesting retransmission to the signal converter according to whether an error has occurred; An image processing apparatus interface dividing the decoded image data into a plurality of sub data and transmitting the decoded image data to the image processing apparatus; And And a control packet generator configured to generate a control packet for requesting retransmission of the image packet decoder and control of the camera and the signal converter, and transmitting the generated control packet to the signal converter. 8. The method of claim 7, Wherein the image processing apparatus interface outputs four pieces of sub data in one cycle. 9. The method of claim 8, Wherein the image processing apparatus interface applies a double data rate (DDR) or a quad data rate (QDR). 9. The method of claim 8, Wherein the image processing apparatus interface transmits a plurality of sub data corresponding to one image packet and transmits checksum information for confirming whether the image packet is normal. 9. The method of claim 8, Wherein the image processing apparatus interface transmits the image data transmitted from a plurality of cameras. 8. The method of claim 7, Wherein the control packet includes a retransmission request signal and a control signal. 13. The method of claim 12, Wherein the packet of the retransmission request signal includes an identifier, a camera ID, an acknowledgment or an acknowledgment indicating whether a retransmission is requested, an acknowledgment (ACK or nack identifier), a packet ID of an image packet transmitted, Device. 13. The method of claim 12, Wherein the control signal includes a trigger control signal generated from a trigger source, a camera control signal for camera control, and the signal conversion unit control signal for setting a control register of the signal conversion unit. 15. The method of claim 14, Wherein the packet of the trigger control signal includes trigger control signal identifier information (trigger packet identifier) and check sum information. 15. The method of claim 14, Wherein the packet of the camera control signal includes camera UART packet identifier, camera UART data, and checksum. 15. The method according to claim 12 or 14, Wherein the signal included in the control packet has a priority in the order of the trigger signal, the retransmission request signal, the signal converter control signal, and the camera control signal. The method according to claim 1, Wherein the signal conversion unit and the data processing unit are connected through an optical cable. 19. The method of claim 18, Wherein the optical cable includes a plurality of image data channels and two control channels. Receiving image data from a plurality of cameras; Generating image data of the transmitted image data and temporarily storing the generated image data; Transmitting the image packet through an optical cable; Decoding the transmitted image packet to separate the image data and determining whether an error has occurred; And And requesting retransmission of the image data according to the determination result. The method of claim 20, wherein the step of receiving the image data comprises: Wherein the image data is received in response to a trigger signal for requesting transmission of the image data. 22. The method of claim 21, Wherein the transmission of the image data is determined by the trigger signal. 22. The method of claim 21, Wherein the transmission period of the trigger signal is determined by a timer or a position encoder. 21. The method of claim 20, And retransmitting the stored image packet according to the retransmission request. 21. The method of claim 20, Wherein the retransmission of the image packet is performed when the retransmission request signal does not arrive after a predetermined time elapses after the transmission of the image packet. 21. The method of claim 20, Further comprising the step of dividing the image data included in the decoded image packet into a plurality of sub data and transmitting the sub data to the image processing apparatus. 27. The method of claim 26, Wherein the sub-data is transmitted with four sub-data in one cycle. 27. The method of claim 26, And transmits checksum information for confirming whether the image packet is normal after transmitting the plurality of sub data corresponding to one image packet. 21. The method of claim 20, Wherein the image data transmitted from the plurality of cameras is transmitted to the image processing apparatus during one line valid period.

Images