Abstract: To solve the problems of visual image autonomous recognition and wide-field navigation planning in the real-time control process of flapping-wing flying robots and realize the wide-field planning navigation control of these robots based on vision, we propose a visual image processing method and edge detection method for flapping-wing flying robots based on clustering analysis and an image mosaic method based on block matching to construct a vision perception framework of flapping-wing flying robots based on teleoperation. The visual image data of flapping-wing flying robots are classified using clustering analysis, and image edge detection is performed on the robot image after clustering analysis processing using a typical edge detection algorithm. The contour features of the visual object and the environmental edge features of the flapping-wing flying robot are reasonably extracted. Block matching is performed for image registration of the flapping-wing flying robot vision image data, and an image fusion algorithm is used to improve image clarity. A flapping-wing flying robot experimental platform is constructed with a flapping-wing flying robot and a visual camera. The flight robot vision image processing method and image mosaic method based on clustering analysis are experimentally verified. A series of experimental results verify the effectiveness of the proposed algorithm.