Laser light stripe image transmission method, device, equipment and storage medium

Abstract

The present invention belongs to the field of data processing technology and discloses a laser light stripe image transmission method, device, equipment and storage medium. The method includes: performing data screening on an image to be transmitted to obtain screened pixel information; determining a plurality of light stripes to be transmitted based on the screened pixel information; screening each light stripe to be transmitted to obtain a light stripe to be processed; packaging the light stripe to be processed to obtain packaged light strip data, and transmitting the packaged laser light stripe image to a target terminal. Through the above-mentioned method, data processing and screening of the image to be transmitted are achieved, so that a complete line light stripe image is converted into partial light stripe data before transmission, which greatly reduces the amount of data transmitted. The algorithm is simple and efficient, which improves the transmission rate. At the same time, the algorithm also retains most of the characteristics of the line light stripe, and has little impact on the accuracy of subsequent calibration and posture calculation.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a laser light stripe image transmission method, device, equipment and storage medium. Background Art

[0002] A 3D line laser camera primarily consists of a camera and a laser. It projects a laser line onto the object being measured. By extracting the laser line from the image captured by the camera and using calibration data, the camera can reconstruct the three-dimensional intersection of the laser projection plane and the object being measured. Line lasers are widely used in measuring complex curved parts due to their non-contact, strong interference resistance, and high speed.

[0003] In practical applications, considering the production line's tactile requirements, a high-speed 3D line laser camera is generally required. This type of camera generally uses an FPGA to connect to an image sensor to collect laser line light strip image data. However, since FPGAs are not good at performing complex visual algorithm calculations, the images collected by the FPGA need to be compressed and transmitted to a third-party device (here, a PC) for processing. Due to the high transmission rate and large image data volume, using high-speed transmission cables will greatly increase costs. Even if low-cost Gigabit Ethernet is used for transmission, such a fast transmission rate cannot be achieved, and the image needs to be compressed. However, if ordinary image compression algorithms are used, the transmission rate will be greatly slowed down, seriously affecting the processing speed.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a laser light stripe image transmission method, device, equipment and storage medium, aiming to solve the technical problem of low transmission rate and impact on processing speed of image transmission in the prior art.

[0006] To achieve the above object, the present invention provides a laser light stripe image transmission method, the method comprising the following steps:

[0007] Perform data screening on the image to be transmitted to obtain filtered pixel information;

[0008] determining a plurality of light bands to be transmitted according to the filtered pixel information;

[0009] Screening each light band to be transmitted to obtain a light band to be processed;

[0010] A packaging operation is performed on the light strip to be processed to obtain packaged light strip data, and the packaged laser light strip image is transmitted to a target terminal.

[0011] Optionally, the performing data screening on the image to be transmitted to obtain screened pixel information includes:

[0012] Acquire the image to be transmitted captured by the image sensor;

[0013] determining image column data according to the image to be transmitted;

[0014] Data screening is performed on the image column data to obtain screened pixel information.

[0015] Optionally, the performing data filtering on the image column data to obtain filtered pixel information includes:

[0016] determining a pixel value of each pixel according to the image column data;

[0017] Comparing the pixel value of each pixel with a preset light band threshold, and screening out pixels whose pixel values ​​are greater than the preset light band threshold as screening pixels;

[0018] Filter pixel information is determined based on the filter pixels.

[0019] Optionally, determining a plurality of light bands to be transmitted according to the filtered pixel information includes:

[0020] determining a plurality of screening pixels and pixel position relationships based on the screening pixel information;

[0021] Determining adjacent pixel information based on the pixel position relationship;

[0022] Adjacent filtered pixels are merged according to the adjacent pixel information and marked as light bands to obtain a plurality of light bands to be transmitted.

[0023] Optionally, screening the light bands to be transmitted to obtain light bands to be processed includes:

[0024] Screening the width of each light band to be transmitted to obtain multiple light bands with qualified widths;

[0025] Obtaining light band brightness information of qualified light bands of each width;

[0026] According to the light band brightness information, the light band with the highest average brightness is selected as the light band to be processed.

[0027] Optionally, screening the width of each light band to be transmitted to obtain a plurality of light bands with qualified widths includes:

[0028] Obtaining the optical band width information of each optical band to be transmitted;

[0029] The optical bands to be transmitted whose optical band widths do not exceed a preset width threshold are screened out according to the optical band width information as optical bands with qualified widths.

[0030] Optionally, the performing a packaging operation on the light strip to be processed to obtain packaged light strip data, and transmitting the packaged laser light strip image to a target terminal includes:

[0031] Get sequence construction information;

[0032] Packing the light band to be processed according to the sequence construction mode information to obtain packed light band data;

[0033] The packaged laser light stripe image is transmitted to a target terminal.

[0034] In addition, to achieve the above-mentioned purpose, the present invention further proposes a laser light stripe image transmission device, the laser light stripe image transmission device comprising:

[0035] A data screening module is used to screen the image to be transmitted and obtain the filtered pixel information;

[0036] a light band determination module, configured to determine a plurality of light bands to be transmitted based on the filtered pixel information;

[0037] The light band screening module is used to screen the light bands to be transmitted to obtain the light bands to be processed;

[0038] The light strip packaging module is used to perform a packaging operation on the light strip to be processed, obtain packaged light strip data, and transmit the packaged laser light strip image to a target terminal.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes a laser light stripe image transmission device, which includes: a memory, a processor, and a laser light stripe image transmission program stored in the memory and executable on the processor, wherein the laser light stripe image transmission program is configured to implement the steps of the laser light stripe image transmission method described above.

[0040] In addition, to achieve the above objectives, the present invention also proposes a storage medium, on which a laser light stripe image transmission program is stored. When the laser light stripe image transmission program is executed by a processor, the steps of the laser light stripe image transmission method described above are implemented.

[0041] The present invention filters the image to be transmitted to obtain filtered pixel information; determines multiple light strips to be transmitted based on the filtered pixel information; filters each light strip to be transmitted to obtain a light strip to be processed; packages the processed light strips to obtain packaged light strip data, and transmits the packaged laser light strip image to the target terminal. This method processes and filters the image to be transmitted, converting a complete line light strip image into partial light strip data for transmission, significantly reducing the amount of data transmitted. The algorithm is simple and efficient, improving the transmission rate. It also retains most of the characteristics of the line light strip, minimizing the impact on the accuracy of subsequent calibration and pose calculations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a structural diagram of a laser light stripe image transmission device in a hardware operating environment involved in an embodiment of the present invention;

[0043] Figure 2 This is a flow chart of a first embodiment of the laser light stripe image transmission method of the present invention;

[0044] Figure 3 This is a schematic diagram of data screening in an embodiment of the laser light stripe image transmission method of the present invention;

[0045] Figure 4 Schematic diagram of adjacent pixel merging in an embodiment of the laser light stripe image transmission method of the present invention;

[0046] Figure 5 This is a complete flow chart of an embodiment of the laser light stripe image transmission method of the present invention;

[0047] Figure 6 This is a flow chart of a second embodiment of the laser light stripe image transmission method of the present invention;

[0048] Figure 7 This is a schematic diagram of width screening in an embodiment of the laser light stripe image transmission method of the present invention;

[0049] Figure 8 This is a schematic diagram of brightness screening in an embodiment of the laser light stripe image transmission method of the present invention;

[0050] Figure 9 This is a structural block diagram of the first embodiment of the laser light stripe image transmission device of the present invention.

[0051] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a laser light stripe image transmission device in the hardware operating environment involved in an embodiment of the present invention.

[0054] like Figure 1 As shown, the laser light stripe image transmission device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the laser light strip image transmission device, and may include more or fewer components than shown in the figure, or combine certain components.

[0056] 4 or different component arrangements.

[0057] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a laser light stripe image transmission program.

[0058] exist Figure 1 In the laser light stripe image transmission device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the laser light stripe image transmission device of the present invention can be set in the laser light stripe image transmission device. The laser light stripe image transmission device calls the laser light stripe image transmission program stored in the memory 1005 through the processor 1001 and executes the laser light stripe image transmission method provided in an embodiment of the present invention.

[0059] The embodiment of the present invention provides a laser light stripe image transmission method, referring to Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a laser light stripe image transmission method according to the present invention.

[0060] In this embodiment, the laser light stripe image transmission method includes the following steps:

[0061] Step S10: performing data screening on the image to be transmitted to obtain screened pixel information.

[0062] It should be noted that the execution body of this embodiment is a field programmable gate array (FTGA), which can also be an external controller, mainly a controller for controlling the laser light strip image transmission method, and is connected to an image sensor, or a high-speed 3D line laser camera and other image and laser line acquisition equipment.

[0063] It should be understood that currently, the collected images are compressed and then transmitted to a third-party device (here, a PC) for processing. Due to the high transmission rate and large image data volume, using high-speed transmission cables will significantly increase costs. Even if low-cost Gigabit Ethernet is used for transmission, such a fast transmission rate cannot be achieved, and the image needs to be compressed. However, using ordinary image compression algorithms will greatly slow the transmission rate, seriously affecting the processing speed. The solution of this embodiment processes and filters the image to be transmitted, converting a complete line light strip image into partial light strip data before transmission, greatly reducing the amount of data transmitted. The algorithm is simple and efficient, which improves the transmission rate. At the same time, the algorithm also retains most of the characteristics of the line light strip, with little impact on the accuracy of subsequent calibration and pose calculation.

[0064] In a specific implementation, the image to be transmitted can be an image captured by any high-speed camera, can be a grayscale image (such as the original 8-bit grayscale image IMG, etc.), or can be other images with light bands, which is not limited in this embodiment.

[0065] It should be noted that the filtered pixel information refers to the relevant information such as the pixel value, brightness, position, etc. of each filtered pixel of the image obtained after data filtering.

[0066] Furthermore, in order to accurately obtain the filtered pixel information, step S10 includes: acquiring the image to be transmitted captured by the image sensor; determining image column data according to the image to be transmitted; and performing data filtering on the image column data to obtain the filtered pixel information.

[0067] It should be understood that acquiring the image to be transmitted captured by the image sensor refers to acquiring or retrieving the image to be transmitted from the image sensor that captured the image. The image sensor may be a complementary metal oxide semiconductor (CMOS).

[0068] In a specific implementation, determining the image column data based on the image to be transmitted refers to extracting data of each column of image pixels from the image to be transmitted as the image column data, and then performing data filtering on the image column data, that is, filtering each pixel point to obtain filtered pixel information.

[0069] In this way, it is possible to receive the image to be transmitted and perform data segmentation and processing, making subsequent data screening more convenient.

[0070] Furthermore, in order to perform data filtering, the image column data is filtered, and the steps of obtaining filtered pixel information include: determining the pixel value of each pixel based on the image column data; comparing the pixel value of each pixel with a preset light band threshold, and filtering out pixels whose pixel values ​​are greater than the preset light band threshold as filtered pixels; and determining filtered pixel information based on the filtered pixels.

[0071] It should be noted that the preset light band threshold is a pre-set pixel value threshold for filtering pixels, which can be a value of any size and is not limited in this embodiment.

[0072] It should be understood that comparing the pixel value of each pixel with the preset light band threshold and screening out pixels with pixel values ​​greater than the preset light band threshold as screening pixels means: comparing the pixel value of each pixel with the preset light band threshold respectively, thereby leaving only pixels with pixel values ​​greater than the preset light band threshold as screening pixels, such as Figure 3 The colored pixels shown are the filtered pixels. Then, the filtered pixel information is obtained based on the relevant information of the filtered pixels.

[0073] In this way, pixels whose pixel values ​​meet the conditions are screened out from all pixels and retained, so that most of the effective features of the image to be transmitted are retained.

[0074] Step S20: determining a plurality of light bands to be transmitted according to the filtered pixel information.

[0075] It should be noted that the light band to be transmitted is a light band composed of pixels screened from the remaining screened pixels.

[0076] Furthermore, in order to obtain the light band to be transmitted, step S20 includes: determining multiple filtered pixels and pixel position relationships based on the filtered pixel information; determining adjacent pixel information based on the pixel position relationship; merging adjacent filtered pixels according to the adjacent pixel information, and marking them as light bands to obtain multiple light bands to be transmitted.

[0077] It should be understood that the pixel position relationship refers to the position relationship of each filtered pixel on the image to be transmitted. Then, the adjacent pixel information is determined based on the pixel position relationship, that is, which pixels are adjacent. Figure 4 As shown, the adjacent pixels in each vertical column are connected and merged based on the column reference, thereby obtaining a plurality of light bands to be transmitted, wherein the light bands to be transmitted are circled with thick lines.

[0078] In this way, each pixel is combined into multiple light bands to be transmitted according to the adjacent relationship, so that subsequent transmission can be packaged and transmitted in units of light bands.

[0079] Step S30: screening the light bands to be transmitted to obtain light bands to be processed.

[0080] In a specific implementation, after the light bands to be transmitted are obtained, width screening and brightness screening are performed, so that finally a light band to be transmitted is selected from the light bands to be transmitted as the light band to be processed.

[0081] Step S40: performing a packaging operation on the light strip to be processed to obtain packaged light strip data, and transmitting the packaged laser light strip image to a target terminal.

[0082] It should be noted that after obtaining the optical tape to be processed, a pre-set sequence construction method is called to perform a packaging operation, and finally the packaged optical tape data is transmitted to the target terminal. The target terminal is generally a computer, but can also be other devices capable of processing information to complete this function, and this embodiment is not limited to this.

[0083] Furthermore, in order to perform a packaging operation, step S40 includes: obtaining sequence construction mode information; packaging the light strip to be processed according to the sequence construction mode information to obtain packaged light strip data; and transmitting the packaged laser light strip image to a target terminal.

[0084] It should be understood that the sequence construction method information refers to relevant information on the sequence construction method required for data packaging.

[0085] In a specific implementation, the light band to be processed is packaged according to the sequence construction mode information to obtain the packaged light band data, which means:

[0086] [{startRow,RowNum,GrayValue1…}

[0087] {startRow, RowNum, GrayValue1…}] to build a sequence for packaging. Here, the data between {} is a column of light band data, startRow indicates the starting row of the light band, RowNum indicates how many rows the light band occupies, and the GrayValue1… array represents the actual pixel value, which is then sent to the target terminal through the network port for processing.

[0088] It should be noted that if Figure 5 Shown is the complete process of this embodiment.

[0089] In this way, the data is packaged and transmitted to the target terminal, which makes the final transmission efficiency and transmission speed higher and ensures that most of the data is intact.

[0090] This embodiment filters the image to be transmitted to obtain filtered pixel information; determines multiple light strips to be transmitted based on the filtered pixel information; filters each light strip to be transmitted to obtain a light strip to be processed; packages the processed light strips to obtain packaged light strip data, and transmits the packaged laser light strip image to the target terminal. This method processes and filters the image to be transmitted, converting a complete line light strip image into partial light strip data for transmission. This significantly reduces the amount of data transmitted, and the algorithm is simple and efficient, improving the transmission rate. It also retains most of the characteristics of the line light strip, minimizing the impact on the accuracy of subsequent calibration and pose calculation.

[0091] refer to Figure 6 , Figure 6 FIG. 4 is a flow chart of a second embodiment of a laser light stripe image transmission method according to the present invention.

[0092] Based on the first embodiment described above, the laser light stripe image transmission method of this embodiment includes, in step S30:

[0093] Step S301: screening the width of each optical band to be transmitted to obtain a plurality of optical bands with qualified widths.

[0094] It should be noted that width screening refers to deleting light bands with unqualified widths, thereby obtaining multiple light bands with qualified widths.

[0095] Furthermore, in order to accurately perform brightness screening step S301 includes: obtaining light band width information of each light band to be transmitted; and screening the light band to be transmitted whose light band width does not exceed a preset width threshold as a light band with qualified width according to the light band width information.

[0096] It should be understood that the optical band width information refers to the width of each optical band to be transmitted.

[0097] In specific implementation, Figure 7 The figure shows a schematic diagram of width screening. For example, if the preset width threshold is set to 2 cells, all light bands to be transmitted that are longer than two cells will be discarded, and the remaining light bands are light bands with qualified widths. Figure 7 The image shown.

[0098] In this way, light bands with unqualified widths are discarded, which reduces the amount of data while retaining the features.

[0099] Step S302: Obtaining light band brightness information of each light band with a qualified width.

[0100] It should be understood that the light band brightness information refers to the summary information of the brightness values ​​of each pixel on the light band.

[0101] Step S303: selecting the qualified light band with the highest average brightness according to the light band brightness information as the light band to be processed.

[0102] In specific implementation, Figure 8 As shown, continued Figure 7 After obtaining the light bands with qualified widths, the average brightness value of each light band is calculated based on the light band brightness information, and then the light band with the highest average brightness value is used as the light band to be processed. However, there may be multiple light bands with the same average brightness value.

[0103] This embodiment screens the width of each light band to be transmitted to obtain multiple light bands of qualified widths; obtains light band brightness information for each of the qualified width light bands; and selects the qualified width light band with the highest average brightness as the light band to be processed based on the light band brightness information. In this way, all light bands to be transmitted are screened, and the light band with qualified width and the highest brightness is retained for subsequent transmission. This reduces the amount of transmitted data while preserving the characteristics of the image to be transmitted, thereby improving the data transmission rate.

[0104] In addition, an embodiment of the present invention further provides a storage medium storing a laser light stripe image transmission program. When the laser light stripe image transmission program is executed by a processor, the steps of the laser light stripe image transmission method described above are implemented.

[0105] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0106] Reference Figure 9 , Figure 9This is a structural block diagram of the first embodiment of the laser light stripe image transmission device of the present invention.

[0107] like Figure 9 As shown, the laser light stripe image transmission device proposed in an embodiment of the present invention includes:

[0108] The data screening module 10 is used to screen the image to be transmitted to obtain screened pixel information.

[0109] The light band determining module 20 is configured to determine a plurality of light bands to be transmitted according to the filtered pixel information.

[0110] The light band screening module 30 is used to screen the light bands to be transmitted to obtain light bands to be processed.

[0111] The light strip packaging module 40 is used to perform a packaging operation on the light strip to be processed, obtain packaged light strip data, and transmit the packaged laser light strip image to a target terminal.

[0112] This embodiment filters the image to be transmitted to obtain filtered pixel information; determines multiple light strips to be transmitted based on the filtered pixel information; filters each light strip to be transmitted to obtain a light strip to be processed; packages the processed light strips to obtain packaged light strip data, and transmits the packaged laser light strip image to the target terminal. This method processes and filters the image to be transmitted, converting a complete line light strip image into partial light strip data for transmission. This significantly reduces the amount of data transmitted, and the algorithm is simple and efficient, improving the transmission rate. It also retains most of the characteristics of the line light strip, minimizing the impact on the accuracy of subsequent calibration and pose calculation.

[0113] In one embodiment, the data screening module 10 is further configured to obtain an image to be transmitted captured by an image sensor; determine image column data according to the image to be transmitted; and perform data screening on the image column data to obtain screened pixel information.

[0114] In one embodiment, the data filtering module 10 is further used to determine the pixel value of each pixel based on the image column data; compare the pixel value of each pixel with a preset light band threshold, and filter out pixels whose pixel values ​​are greater than the preset light band threshold as filtering pixels; and determine filtering pixel information based on the filtering pixels.

[0115] In one embodiment, the light band determination module 20 is further used to determine multiple filtered pixels and pixel position relationships based on the filtered pixel information; determine adjacent pixel information based on the pixel position relationship; merge adjacent filtered pixels based on the adjacent pixel information, and mark them as light bands to obtain multiple light bands to be transmitted.

[0116] In one embodiment, the light band screening module 30 is also used to screen the width of each light band to be transmitted to obtain multiple light bands with qualified widths; obtain the light band brightness information of each light band with qualified width; and select the light band with the highest average brightness as the light band to be processed based on the light band brightness information.

[0117] In one embodiment, the light band screening module 30 is further configured to obtain light band width information of each light band to be transmitted; and screen out the light bands to be transmitted whose light band widths do not exceed a preset width threshold as light bands with qualified widths according to the light band width information.

[0118] In one embodiment, the optical tape packaging module 40 is further configured to obtain sequence construction method information;

[0119] The light strip to be processed is packaged according to the sequence construction mode information to obtain packaged light strip data; and the packaged laser light strip image is transmitted to a target terminal.

[0120] It should be understood that the above is only an example and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any limitation on this.

[0121] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of it according to actual needs to achieve the purpose of the embodiment scheme, and no limitation is made here.

[0122] In addition, for technical details not fully described in this embodiment, reference can be made to the laser light stripe image transmission method provided in any embodiment of the present invention, and will not be repeated here.

[0123] In addition, it should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0124] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0125] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, or of course by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0126] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A laser light stripe image transmission method, characterized in that: The laser light stripe image transmission method comprises: Perform data screening on the image to be transmitted to obtain filtered pixel information; determining a plurality of light bands to be transmitted according to the filtered pixel information; Screening each light band to be transmitted to obtain a light band to be processed; performing a packaging operation on the light strip to be processed to obtain a packaged laser light strip image, and transmitting the packaged laser light strip image to a target terminal; The step of packaging the light strip to be processed to obtain a packaged laser light strip image, and transmitting the packaged laser light strip image to a target terminal includes: Get sequence construction information; Packing the light strips to be processed according to the sequence construction mode information to obtain a packed laser light strip image; The packaged laser light stripe image is transmitted to a target terminal.

2. The method according to claim 1, wherein The data screening of the image to be transmitted to obtain the screened pixel information includes: Acquire the image to be transmitted captured by the image sensor; determining image column data according to the image to be transmitted; Data screening is performed on the image column data to obtain screened pixel information.

3. The method according to claim 2, wherein The step of filtering the image column data to obtain filtered pixel information includes: determining a pixel value of each pixel according to the image column data; Comparing the pixel value of each pixel with a preset light band threshold, and screening out pixels whose pixel values ​​are greater than the preset light band threshold as screening pixels; Filter pixel information is determined based on the filter pixels.

4. The method according to claim 1, wherein The determining of a plurality of light bands to be transmitted according to the filtered pixel information includes: determining a plurality of screening pixels and pixel position relationships based on the screening pixel information; Determining adjacent pixel information based on the pixel position relationship; Adjacent filtered pixels are merged according to the adjacent pixel information and marked as light bands to obtain a plurality of light bands to be transmitted.

5. The method according to claim 1, wherein The screening of the light bands to be transmitted to obtain the light bands to be processed includes: Screening the width of each light band to be transmitted to obtain multiple light bands with qualified widths; Obtaining light band brightness information of qualified light bands of each width; According to the light band brightness information, the light band with the highest average brightness is selected as the light band to be processed.

6. The method according to claim 5, wherein The width screening of each light band to be transmitted to obtain a plurality of light bands with qualified widths includes: Obtaining the optical band width information of each optical band to be transmitted; The optical bands to be transmitted whose optical band widths do not exceed a preset width threshold are screened out according to the optical band width information as optical bands with qualified widths.

7. A laser light stripe image transmission device, characterized in that: The laser light stripe image transmission device comprises: A data screening module is used to screen the image to be transmitted and obtain the filtered pixel information; a light band determination module, configured to determine a plurality of light bands to be transmitted based on the filtered pixel information; The light band screening module is used to screen the light bands to be transmitted to obtain the light bands to be processed; a light strip packaging module, configured to perform a packaging operation on the light strip to be processed, obtain a packaged laser light strip image, and transmit the packaged laser light strip image to a target terminal; The optical strip packaging module is further configured to obtain sequence construction mode information; perform a packaging operation on the optical strip to be processed according to the sequence construction mode information to obtain a packaged laser light strip image; and transmit the packaged laser light strip image to a target terminal.

8. A laser light stripe image transmission device, characterized in that: The device includes: a memory, a processor, and a laser light stripe image transmission program stored in the memory and executable on the processor, wherein the laser light stripe image transmission program is configured to implement the laser light stripe image transmission method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores a laser light stripe image transmission program, and when the laser light stripe image transmission program is executed by the processor, the laser light stripe image transmission method according to any one of claims 1 to 6 is implemented.

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