Image enhancement method, inspection robot, remote terminal and inspection operation and maintenance system

Abstract

The embodiment of the invention provides an image enhancement method, an inspection robot, a remote terminal and an inspection operation and maintenance system, and relates to the technical field of robots. According to the method, the initial collection image collected when the inspection robot operates the target object in the target area is obtained, and the inspection robot operates the target object by controlling a mechanical clamping jaw on a mechanical arm; performing iterative image enhancement processing on the initial acquisition image by using an enhancement sub-model in a pre-trained target model to obtain a target enhanced image; performing noise reduction and sharpening processing on the target enhanced image through a noise reduction sub-model and a sharpening sub-model in the target model to obtain a target image; and sending the target image to a remote terminal. The quality of an image collected by the inspection robot in an environment with a poor light condition can be improved through an image enhancement method. In addition, through the mechanical clamping jaw on the mechanical arm of the inspection robot, remote operation on the target object in the target image is achieved.

Description

technical field [0001] The present application relates to the field of robotics, and in particular, to an image enhancement method, an inspection robot, a remote terminal, and an inspection operation and maintenance system. Background technique [0002] Pipe corridors, namely pipeline corridors, are underground tunnel spaces that integrate various engineering pipelines such as electricity, communication, gas, heating, water supply and drainage, such as immersed tunnels, urban underground comprehensive pipe corridors, etc. Pipe corridors are closed spaces with poor ventilation conditions, and are prone to accidents such as water penetration, smoke and fire. Therefore, in order to maintain the safety of pipe corridor tunnel equipment and staff, and reduce waste of human resources, more and more inspection robots have begun to be used. The security monitoring of the pipe gallery is underway. [0003] Since there are many environments in the pipe gallery with poor lighting cond...

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Problems solved by technology

[0004] However, due to the structural design of the current inspection robot and the performance problems of the visual collection equipment such as the camera, it is difficult to obtain complete image information in the pipe gallery under low light conditions.

Moreover, the inspection robot in the prior art only has a single function of collecting environmental information, and cannot handle abnormal equipment, which reduces the working efficiency of the robot

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