Image processing method, mobile device and medium

Abstract

The invention discloses an image processing method, a mobile device and a medium, the image processing method is applied to the mobile device, the mobile device comprises an SOC chip, an MCU chip, a laser device and a camera device, and the SOC chip and the MCU chip are not in the same operating system. The image processing method comprises the steps that the SOC chip controls the camera device and the laser device to start working according to a first preset rule and a second preset rule respectively, the first preset rule is matched with the second preset rule, and the first preset rule is used for indicating an exposure rule of the camera device; the MCU chip generates time information and sends the time information to the SOC chip after receiving a synchronizing signal sent when the camera device collects each frame of image; after receiving the time information, the SOC chip generates identification information of the image of the corresponding frame according to the time information; and the SOC chip associates the generated identification information with the image of the corresponding frame.

Description

Technical Field

[0001] The present disclosure relates to the technical field of mobile device, and in particular to an image processing method, a mobile device, and a medium. Background Art

[0002] In related technologies, the laser tube's lighting is controlled by an MCU chip, which activates the laser tube after receiving a synchronization signal from the camera. Therefore, igniting the laser tube is dependent on the MCU chip. If the MCU crashes (freezes) or becomes blocked (due to running too many programs), the MCU chip will fail to activate the laser tube. Consequently, the image with the laser light illuminated cannot be captured successfully.

[0003] Normally, the image recognition process requires capturing one frame with the laser illuminated and one frame without the laser illuminated for recognition. If this issue occurs, subsequent processes will fail, such as incomplete data required for obstacle avoidance.

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

[0005] The main purpose of the present disclosure is to provide an image processing method, a removable device and a medium, aiming to solve the above-mentioned technical problems in the prior art.

[0006] To achieve the above objectives, the present disclosure provides an image processing method, which is applied to a mobile device. The mobile device includes a SOC chip, an MCU chip, a laser device, and a camera device. The SOC chip and the MCU chip do not have the same operating system. The image processing method includes:

[0007] The SOC chip controls the camera device and the laser device to start working according to a first preset rule and a second preset rule, respectively. The first preset rule and the second preset rule match, and the first preset rule is used to indicate the exposure rule of the camera device, and the second preset rule is used to indicate the lighting rule of the laser device.

[0008] After receiving the synchronization signal sent by the camera device when capturing each frame of image, the MCU chip generates time information and sends it to the SOC chip;

[0009] After receiving the time information, the SOC chip generates identification information of the image of the corresponding frame according to the time information;

[0010] The SOC chip associates the generated identification information with the image of the corresponding frame.

[0011] Preferably, in the image processing method, after the SOC chip receives the time information, before the step of generating identification information of the image of the corresponding frame according to the time information and the lighting status of the laser device presented on the image of the corresponding frame, the control method further includes:

[0012] The camera device stores each frame of image in the SOC chip.

[0013] The SOC chip determines the lighting status of the laser device presented on the image based on the image.

[0014] Preferably, in the image processing method, the control method further comprises:

[0015] In response to the SOC chip acquiring at least multiple frames of continuous images captured by the camera device, determining whether the at least multiple frames of continuous images meet at least one section of a second preset rule, and obtaining a first determination result;

[0016] When the first judgment result is no, the SOC chip controls to start the recovery mechanism.

[0017] Preferably, in the image processing method, the SOC chip controls the startup recovery mechanism, including:

[0018] The SOC chip controls the camera device and laser equipment to restart, or sends an abnormal warning to the user terminal.

[0019] Preferably, in the image processing method, generating identification information of an image corresponding to a frame according to time information includes:

[0020] Identification information of the image of the corresponding frame is generated according to the time information and the lighting status of the laser device presented on the image of the corresponding frame.

[0021] Preferably, in the image processing method, the first preset rule and the second preset rule match, including that the exposure time of the camera device and the lighting and non-lighting of the laser device are synchronized.

[0022] Preferably, in the image processing method, the camera device is exposed when the laser device is on, and is also exposed when the laser device is off, and the time interval of the camera device's exposure time is the same as the time interval of the laser device being on and off.

[0023] To achieve the above-mentioned purpose, the present disclosure provides a mobile device, which includes a SOC chip, an MCU chip, a laser device, and a camera device, wherein the SOC chip and the MCU chip are not on the same operating system;

[0024] The SOC chip is configured to control the camera device and the laser device to start working according to a first preset rule and a second preset rule, respectively, wherein the first preset rule and the second preset rule match, and the first preset rule is used to indicate an exposure rule for the camera device, and the second preset rule is used to indicate a lighting rule for the laser device;

[0025] The MCU chip is configured to generate time information and send it to the SOC chip after receiving the synchronization signal sent by the camera device when capturing each frame of image;

[0026] The SOC chip is configured to generate identification information of an image corresponding to a frame according to the time information after receiving the time information;

[0027] The SOC chip is configured to associate the generated identification information with the image of the corresponding frame.

[0028] To achieve the above objectives, the present disclosure provides a mobile device, the mobile device comprising:

[0029] at least one processor; and,

[0030] a memory communicatively connected to at least one processor; wherein,

[0031] The memory stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned image processing method.

[0032] To achieve the above objectives, the present disclosure provides a computer-readable storage medium storing a computer program, wherein the computer program implements the above-mentioned image processing method when executed by a processor.

[0033] The present disclosure has at least the following beneficial effects:

[0034] The image processing method provided by the present disclosure is as follows: the SOC chip controls the camera device and the laser device to start working according to the first preset rule and the second preset rule respectively, wherein the first preset rule and the second preset rule match, and the first preset rule is used to indicate the exposure rule of the camera device, and the second preset rule is used to indicate the lighting rule of the laser device; after the MCU chip receives the synchronization signal sent by the camera device when capturing each frame of image, the MCU chip generates time information and sends it to the SOC chip; after receiving the time information, the SOC chip generates identification information of the image of the corresponding frame according to the time information; the SOC chip associates the generated identification information with the image of the corresponding frame, so that the work of controlling the camera device and the laser device can be moved from the MCU chip to the SOC chip, and the work of the MCU chip is shared by the SOC chip, thereby reducing the load of the MCU chip and reducing the dependence on the MCU chip.

[0035] Furthermore, each time the SOC chip receives the time information sent by the MCU chip, it will generate identification information of the image of the corresponding frame based on the time information. In this way, the time indicated by the time information associated with the image and the time indicated by the time information used by the MCU chip can be the same time, without any error and with higher accuracy.

[0036] Furthermore, since the SOC chip has its own time information and the MCU chip also has its own time information, the times indicated by these two time information will have a certain error, that is, processing delay. Assuming that the image is marked with the time indicated by the SOC chip's own time information, there will inevitably be an error with the time indicated by the MCU chip's time information. In addition, there is also a method in the related art to convert the time indicated by the SOC chip's time information and the time indicated by the MCU chip's time information through calculation, but this method is still inaccurate and will have errors; and this embodiment uses the time indicated by the time information on the MCU chip directly as the time associated with the image, that is, the time indicated by the image-associated time information is not the time indicated by the SOC chip's own time information, but the time indicated by the uniformly adopted time information on the MCU chip, so no error will be generated and the accuracy is higher.

[0037] Furthermore, since the MCU chip is usually connected to some sensors for detecting various information such as the position changes of the entire movable device, when the time indicated by the time information of the MCU chip is synchronized with the time indicated by the time information of the SOC chip, there will be no network delay, algorithm delay, or even control delay due to the difference between the time used by some sensors and the time of the SOC chip. In this way, by synchronizing the time indicated by the time information of the MCU chip with the time indicated by the time information of the SOC chip, the control of the entire movable device will be more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a first embodiment of the image processing method provided by the present disclosure;

[0039] Figure 2 A schematic diagram of a second embodiment of the image processing method provided by the present disclosure;

[0040] Figure 3 A schematic diagram of a third embodiment of the image processing method provided by the present disclosure;

[0041] Figure 4 A schematic diagram of an embodiment of a movable device provided by the present disclosure;

[0042] Figure 5 A schematic diagram of another embodiment of a movable device provided by the present disclosure.

[0043] The purpose, features and advantages of the present disclosure will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0044] The technical solutions of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present disclosure, not all embodiments. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other unless there is a conflict.

[0045] In the embodiments of the present disclosure, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0047] In the embodiments of the present disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar thereto.

[0048] In the present disclosure, unless otherwise specified, directional words such as "up, down, top, bottom" are usually used with reference to the directions shown in the drawings, or with reference to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present disclosure.

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in the various embodiments of the present disclosure, many technical details are provided to enable readers to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present disclosure. The various embodiments can be combined with each other and referenced to each other under the premise that there is no contradiction.

[0050] In order to solve the above problems, the present embodiment relates to an image processing method, which is applied to a movable device. The movable device can be a cleaning robot or other movable intelligent device. Taking the cleaning robot as an example, the movable device can be but is not limited to a sweeper; in other embodiments, it can also be other cleaning robots, and no specific restrictions are made here.

[0051] Specifically, the mobile device includes a SOC chip, an MCU chip, a laser device, and a camera device. The SOC chip and the MCU chip are not running the same operating system. For example, the SOC chip is installed in the Linux system of the mobile device, while the MCU chip is installed in another system other than Linux, such as Windows.

[0052] The following describes the implementation details of the image processing method of the first embodiment of the present disclosure. The following content is only provided for ease of understanding and is not necessary for implementing this solution. Figure 1 A schematic diagram of the configuration method provided by the present disclosure is shown.

[0053] The specific process of this embodiment is as follows Figure 1 As shown, it specifically includes steps S100 to S400.

[0054] In step S100, the SOC chip controls the camera device and the laser device to start working according to the first preset rule and the second preset rule respectively, wherein the first preset rule and the second preset rule match, and the first preset rule is used to indicate the exposure rule of the camera device, and the second preset rule is used to indicate the lighting rule of the laser device.

[0055] It should be noted that the camera device and the laser device can be controlled separately or together. In some embodiments, the camera device and the laser device can be controlled together. For example, when the SOC chip controls the camera device to be turned on, a signal is generated, and this signal lights up the laser device. Figure 4 shown.

[0056] The laser device is usually lit in the following order: the line laser is lit in the i-th frame, the line laser is not lit in the i+1 frame, the line laser is lit in the i+2 frame, and so on. That is, the laser device is lit and not lit in an alternating manner.

[0057] The camera's exposure time is synchronized with the laser's on and off times. That is, the camera exposes when the laser is on, and also when it's off. The laser's on and off times are the same as the camera's exposure times.

[0058] For example, the laser device lights up at the first second and turns off at the third second, and the time interval between the laser device lighting up and turning off is 2 seconds; and the camera device will expose at the first second and at the third second, and the exposure time interval of the laser device is also 2 seconds.

[0059] The SOC chip needs to control the laser device to light up or not while controlling the exposure of the camera device. The number of images taken by the camera device per second is fixed, so the laser device can be controlled to light up or not at a fixed time.

[0060] In some embodiments, the laser device may include two laser emitting units, three laser emitting units, or any other number of laser emitting units, without specific limitation herein. Taking the example of a laser device including two laser emitting units, the units may be a left laser emitting unit and a right laser emitting unit, respectively, located on the left and right sides, or other arrangements may be adopted. Taking the example of a laser device including three laser emitting units, the units may be a left laser emitting unit, a middle laser emitting unit, and a right laser emitting unit, respectively, located on the left, center, and right sides, or other arrangements may be adopted.

[0061] Taking the example of a laser device including a left laser emitting unit and a right laser emitting unit, the second preset rule includes alternating cycles of the laser device being off (both the left laser emitting unit and the right laser emitting unit are off), the left laser emitting unit being on, then off (both the left laser emitting unit and the right laser emitting unit are off), and the right laser emitting unit being on. In other embodiments, the second preset rule may also include alternating cycles of the laser device's left laser emitting unit being on, then off (both the left laser emitting unit and the right laser emitting unit are off), the right laser emitting unit being on, then off (both the left laser emitting unit and the right laser emitting unit are off), and so on.

[0062] Taking the laser device including a left laser emitting unit, a middle laser emitting unit, and a right laser emitting unit as an example, the second preset rule includes alternating cycles of the laser device being off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), the left laser emitting unit being on and off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), the middle laser emitting unit being on and off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), and the right laser emitting unit being on. In other embodiments, the laser device can be operated in accordance with the rule of alternating on and off.

[0063] In addition, the first preset rule and the second preset rule match, including that the exposure time of the camera device is synchronized with the lighting and non-lighting of the laser device.

[0064] More specifically, the camera is exposed when the laser device is on, and is also exposed when the laser device is off, and the exposure time interval of the camera is the same as the time interval between the laser device being on and off. It is worth noting that turning off the laser device must be done after the camera exposure is turned off.

[0065] In step S200 , after receiving the synchronization signal sent by the camera device when capturing each frame of image, the MCU chip generates time information and sends it to the SOC chip.

[0066] It should be noted that once the camera starts operating, it begins capturing images. Each time a frame is captured, a synchronization signal is generated and sent to the MCU chip. Specifically, a pin on the camera can send the synchronization signal to the MCU chip. Upon receiving this synchronization signal, the MCU chip transmits its own time information to the SOC chip. When the camera captures the next frame, it also generates a synchronization signal for the MCU chip. The MCU chip, upon receiving this synchronization signal, transmits its own time information to the SOC chip, and so on. This process continues, until the SOC chip receives one, two, three, and so on, one frame of image after another.

[0067] After receiving the synchronization signal, the MCU chip may send the time information to the SOC chip via a serial port (such as UART).

[0068] In step S300 , after receiving the time information, the SOC chip generates identification information of the image corresponding to the frame according to the time information.

[0069] It should be understood that each time the SOC chip receives the time information sent by the MCU chip, it will generate identification information of the image of the corresponding frame based on the time information. In this way, the time indicated by the time information associated with the image and the time indicated by the time information used by the MCU chip can be the same time, without any error and with higher accuracy.

[0070] Furthermore, since the SOC chip has its own time information and the MCU chip also has its own time information, the times indicated by these two time information will have a certain error, that is, processing delay. Assuming that the image is marked with the time indicated by the SOC chip's own time information, there will inevitably be an error with the time indicated by the MCU chip's time information. In addition, there is also a method in the related art to convert the time indicated by the SOC chip's time information and the time indicated by the MCU chip's time information through calculation, but this method is still inaccurate and will have errors; and this embodiment uses the time indicated by the time information on the MCU chip directly as the time associated with the image, that is, the time indicated by the image-associated time information is not the time indicated by the SOC chip's own time information, but the time indicated by the uniformly adopted time information on the MCU chip, so no error will be generated and the accuracy is higher.

[0071] Furthermore, since the MCU chip is usually connected to some sensors for detecting various information such as the position changes of the entire movable device, when the time indicated by the time information of the MCU chip is synchronized with the time indicated by the time information of the SOC chip, there will be no network delay, algorithm delay, or even control delay due to the difference between the time used by some sensors and the time of the SOC chip. In this way, by synchronizing the time indicated by the time information of the MCU chip with the time indicated by the time information of the SOC chip, the control of the entire movable device will be more precise.

[0072] In some embodiments, identification information of the image of the corresponding frame may be generated based on time information; in other embodiments, identification information of the image of the corresponding frame may be generated based on time information and the lighting status of the laser device presented on the image of the corresponding frame.

[0073] In step S400 , the SOC chip associates the generated identification information with the image of the corresponding frame.

[0074] It should be understood that the SOC chip associates the generated identification information with the image of the corresponding frame. This may be done by associating the identification information with the image of the corresponding frame as an identifier, or by forming a mapping relationship between the identification information and the image of the corresponding frame. In some embodiments, the image of the corresponding frame may be named using the identification information. When naming the image of the corresponding frame, the time information may be used as at least part or all of the name.

[0075] In other embodiments, the image of the corresponding frame may be named using identification information generated by using the time information and the lighting status of the laser device presented on the image of the corresponding frame. When naming the image of the corresponding frame, the time information and the lighting status of the laser device presented on the image may be used as at least part or all of the name.

[0076] like Figure 2 As shown, Figure 2 The second embodiment of the image processing method provided by the present disclosure is illustrated. Based on the first embodiment, before step S300, the control method further includes steps S510 and S520.

[0077] In step S510 , the camera device stores each frame of image in the SOC chip when capturing the image.

[0078] In step S520 , the SOC chip determines the lighting status of the laser device shown in the image based on the image.

[0079] It should be understood that after the camera device begins operating, each time a frame of image is captured, the image is stored in the SOC chip. Each time the SOC chip receives an image, it determines the lighting status of the laser device shown in the image, such as determining whether the left laser emitting unit is lit, whether the right laser emitting unit is lit, or whether both the left and right laser emitting units are not lit. The specific determination method can be determined using image recognition.

[0080] In related technologies, the MCU chip controls the laser device's on / off state, while the SOC chip determines the laser device's on / off sequence to determine the image captured when the laser is on and when it is off. These sequentially captured images are then used for algorithm analysis. However, the disclosed embodiment uses the SOC chip to control the laser device's on / off state, and then determines the laser device's on / off state as shown in the image. This simplifies the MCU chip's work and reduces the synchronization process between the two.

[0081] like Figure 3 As shown, Figure 3 The third embodiment of the image processing method provided by the present disclosure is illustrated. Based on the second embodiment, the control method further includes step S530 and step S540.

[0082] Step S530 , in response to the SOC chip acquiring at least multiple frames of continuous images captured by the camera device, determining whether the at least multiple frames of continuous images meet at least one section of a second preset rule, and obtaining a first determination result.

[0083] It should be understood that after the camera device starts working, each time a frame of image is captured, the image will be stored in the SOC chip, so the SOC chip will get one frame of image, two frames of image, three frames of image...

[0084] When more than two frames of images are accumulated, it can be determined whether the lighting conditions of the lasers presented in these two frames of images conform to normal logic, that is, whether they conform to the second preset rule.

[0085] When more than three frames of images are accumulated, it can be determined whether the lighting conditions of the lasers presented in these three frames of images conform to normal logic, that is, whether they conform to the second preset rule.

[0086] Until the SOC chip obtains the last frame of image.

[0087] It should be noted that since the laser's activation or deactivation in the second preset rule is a cyclical process, determining whether the laser's activation in multiple consecutive frames of images conforms to normal logic only requires determining whether at least one segment of the second preset rule is met. If it is determined that the laser does not conform to normal logic, an abnormality is determined; otherwise, it is determined to be normal.

[0088] Step S540: When the first judgment result is no, the SOC chip controls and starts the recovery mechanism.

[0089] It should be understood that when it is determined that the laser lighting conditions displayed in multiple consecutive frames of images do not conform to normal logic, a recovery mechanism needs to be implemented. The recovery mechanism can be to control the camera and laser equipment to restart through the SOC chip, or to send an abnormality warning to the user terminal.

[0090] In some other implementations, the recovery mechanism may be initiated by recording the abnormal situation in a log, and then sending the log to, for example, a user for analysis.

[0091] The present disclosure also provides a mobile device, such as Figure 4 As shown, the mobile device includes a SOC chip 610, an MCU chip 620, a laser device 630, and a camera device 640. The SOC chip and the MCU chip are not on the same operating system.

[0092] The SOC chip 610 is configured to control the camera device 640 and the laser device 630 to start working according to the first preset rule and the second preset rule respectively, wherein the first preset rule and the second preset rule match, and the first preset rule is used to indicate the exposure rule of the camera device 640, and the second preset rule is used to indicate the lighting rule of the laser device 630.

[0093] It should be noted that the camera device and the laser device can be controlled separately or together. In some embodiments, the camera device and the laser device can be controlled together. For example, when the SOC chip 610 controls the camera device to turn on, a signal is generated, and this signal lights up the laser device.

[0094] The laser device is usually lit in the following order: the line laser is lit in the i-th frame, the line laser is not lit in the i+1 frame, the line laser is lit in the i+2 frame, and so on. That is, the laser device is lit and not lit in an alternating manner.

[0095] The camera's exposure time is synchronized with the laser's on and off times. That is, the camera exposes when the laser is on, and also when it's off. The laser's on and off times are the same as the camera's exposure times.

[0096] For example, the laser device lights up at the first second and turns off at the third second, and the time interval between the laser device lighting up and turning off is 2 seconds; and the camera device will expose at the first second and at the third second, and the exposure time interval of the laser device is also 2 seconds.

[0097] The SOC chip 610 needs to control the laser device to light up or not while controlling the exposure of the camera device. The number of images captured by the camera device per second is fixed, so the laser device can be controlled to light up or not at a fixed time.

[0098] In some embodiments, the laser device may include two laser emitting units, three laser emitting units, or any other number of laser emitting units, without specific limitation herein. Taking the example of a laser device including two laser emitting units, the units may be a left laser emitting unit and a right laser emitting unit, respectively, located on the left and right sides, or other arrangements may be adopted. Taking the example of a laser device including three laser emitting units, the units may be a left laser emitting unit, a middle laser emitting unit, and a right laser emitting unit, respectively, located on the left, center, and right sides, or other arrangements may be adopted.

[0099] Taking the laser device including a left laser emitting unit and a right laser emitting unit as an example, the second preset rule includes alternating cycles of the laser device being off (both the left laser emitting unit and the right laser emitting unit are off), the left laser emitting unit being on, off (both the left laser emitting unit and the right laser emitting unit are off), and the right laser emitting unit being on.

[0100] Taking the laser device including a left laser emitting unit, a middle laser emitting unit, and a right laser emitting unit as an example, the second preset rule includes the following: the laser device is off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), the left laser emitting unit is on, off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), the middle laser emitting unit is on, off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), and the right laser emitting unit is on, presenting an alternating cycle; or the laser device is off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), the left laser emitting unit is on, off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), the right laser emitting unit is on, off (the left laser emitting unit, the middle laser emitting unit, and the right laser emitting unit are all off), and the middle laser emitting unit is on, presenting an alternating cycle. In other embodiments, as long as the laser of the laser device follows the rule of alternating lighting and not lighting, it can be performed.

[0101] In addition, the first preset rule and the second preset rule match, including that the exposure time of the camera device is synchronized with the lighting and non-lighting of the laser device.

[0102] More specifically, the camera is exposed when the laser device is on, and is also exposed when the laser device is off, and the exposure time interval of the camera is the same as the time interval between the laser device being on and off. It is worth noting that turning off the laser device must be done after the camera exposure is turned off.

[0103] The camera device 640 is configured to send a synchronization signal to the MCU chip 620 each time it captures a frame of image. It should be noted that after the camera device 640 begins operating, it will begin capturing images, and each time it captures a frame of image, it will generate a synchronization signal for the MCU chip 620. Specifically, a pin on the camera device 640 can be used to send a synchronization signal to the MCU chip 620. Upon receiving this synchronization signal, the MCU chip will send its own time information to the SOC chip 610. When the camera device 640 captures the next frame of image, it will also generate a synchronization signal for the MCU chip 620. Upon receiving this synchronization signal, the MCU chip 620 will send its own time information to the SOC chip 610, and so on. This process continues, and the SOC chip 610 will receive one frame of image, two frames of image, three frames of image, and so on.

[0104] After receiving the synchronization signal, the MCU chip 620 may send the time information to the SOC via a serial port (eg, UART).

[0105] The MCU chip 620 is also configured to generate time information and send it to the SOC chip 610 after receiving the synchronization signal sent by the camera device 640 when capturing each frame of image. It should be noted that after the camera device starts working, it will begin to capture images. When each frame of image is captured, a synchronization signal will be generated and sent to the MCU chip 620. Specifically, a synchronization signal can be sent to the MCU chip 620 via a pin of the camera device. When the MCU chip 620 receives this synchronization signal, it will send its own time information to the SOC chip 610. When the camera device captures the next frame of image, it will also generate a synchronization signal to the MCU chip 620. After receiving this synchronization signal, the MCU chip 620 will send its own time information to the SOC chip 610, and so on. The process continues in this way, and the SOC chip 610 will receive one frame of image, two frames of image, three frames of image, and so on.

[0106] After receiving the synchronization signal, the MCU chip 620 may send the time information to the SOC chip 610 via a serial port (eg, UART).

[0107] The SOC chip 610 is further configured to, after receiving the time information, generate identification information for the corresponding frame of the image based on the time information and the lighting status of the laser device 630 presented in the image of the corresponding frame. It should be understood that each time the SOC chip 610 receives time information sent by the MCU chip 620, it generates identification information for the corresponding frame of the image based on the time information. This ensures that the time indicated by the time information associated with the image and the time indicated by the time information used by the MCU chip 620 are the same, eliminating errors and achieving higher accuracy.

[0108] Furthermore, since the SOC chip 610 has its own time information and the MCU chip 620 also has its own time information, the times indicated by these two time information will have a certain error, that is, processing delay. Assuming that the image is marked with the time indicated by the time information of the SOC chip 610 itself, there will inevitably be an error with the time indicated by the time information of the MCU chip 620. In addition, there is also a method in the related art to convert the time indicated by the time information of the SOC chip 610 and the time indicated by the time information of the MCU chip 620 by calculation, but this method is still inaccurate and there will be errors; and this embodiment uses the time indicated by the time information on the MCU chip 620 directly as the time associated with the image, that is, the time indicated by the time information associated with the image is not the time indicated by the time information of the SOC chip 610 itself, but the time indicated by the time information on the MCU chip that is uniformly adopted, so no error will be generated and the accuracy is higher.

[0109] Furthermore, since the MCU chip 620 is usually connected to some sensors for detecting various information such as the position change of the entire movable device, when the time indicated by the time information of the MCU chip 620 is synchronized with the time indicated by the time information of the SOC chip 610, there will be no network delay, algorithm delay, or even control delay due to the difference between the time used by some sensors and the time of the SOC chip 610. In this way, by synchronizing the time indicated by the time information of the MCU chip 620 with the time indicated by the time information of the SOC chip 610, the control of the entire movable device will be more precise.

[0110] In some embodiments, identification information of the image of the corresponding frame may be generated based on time information; in other embodiments, identification information of the image of the corresponding frame may be generated based on time information and the lighting status of the laser device presented on the image of the corresponding frame.

[0111] The SOC chip 610 is further configured to associate the generated identification information with the image of the corresponding frame. It should be understood that the SOC chip 610 may associate the generated identification information with the image of the corresponding frame by using the identification information as an identifier, or by forming a mapping relationship between the identification information and the image of the corresponding frame. In some embodiments, the image of the corresponding frame may be named using the identification information. When naming the image of the corresponding frame, the time information may be used as at least part or all of the name.

[0112] In other embodiments, the image of the corresponding frame may be named using identification information generated by using the time information and the lighting status of the laser device 630 shown in the image of the corresponding frame. When naming the image of the corresponding frame, the time information and the lighting status of the laser device 630 shown in the image may be used as at least part or all of the name.

[0113] by Figure 4For example, camera 640 and laser device 630 are controlled together. For example, when SOC chip 610 turns on camera 640, camera 640 generates a signal and sends it to laser device 630, which then activates laser device 630. Upon receiving this signal, laser device 630 triggers a frame start, begins capturing a frame, and sets the exposure or gain of camera 640, thereby controlling the exposure time of camera 640. It then triggers a frame acquisition flag to read the status of each frame of data, such as controlling whether laser device 630 is illuminated or not. It then performs a frame activation to activate camera 640 and begin exposure. It then performs a frame deactivation to stop camera 640 exposure and lock the current exposure. Finally, acquisition concludes, and camera 640 completes a frame. At this point, camera 640 generates a synchronization signal and sends it to MCU chip 620. After receiving the synchronization signal sent by the camera device 640 when capturing each frame of image, the MCU chip generates time information and sends it to the SOC chip 610 .

[0114] In order to achieve the above object, the present disclosure also provides a mobile device, such as Figure 5 As shown, the endoscope system includes at least one processor 701; and a memory 702 communicatively connected to the at least one processor 701; wherein the memory 702 stores instructions that can be executed by the at least one processor 701, and the instructions are executed by the at least one processor 701 so that the at least one processor 701 can execute the above-mentioned image processing method.

[0115] The memory 702 and processor 701 are connected using a bus. The bus may include any number of interconnected buses and bridges, connecting various circuits of one or more processors 701 and memory 702. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor 701 is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor 701.

[0116] The processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 702 can be used to store data used by the processor 701 when performing operations.

[0117] In order to achieve the above objectives, the present disclosure provides a computer-readable storage medium storing a computer program, which implements the above image processing method when executed by the processor 701.

[0118] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing related hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or processor 7014 (processor) to execute all or part of the steps in the various embodiments of the present disclosure. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0119] In the description of this specification, reference to the terms "this embodiment" or "other embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0120] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] Obviously, the embodiments described above are only part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present disclosure, ordinary technicians in this field can make other different forms of changes or modifications without making any creative work, which should fall within the scope of protection of the present disclosure.

Claims

1. An image processing method is applied to a mobile device, wherein the mobile device includes a SOC chip, an MCU chip, a laser device, and a camera device, wherein the SOC chip and the MCU chip are not on the same operating system, and wherein: include: The SOC chip controls the camera device and the laser device to start working according to a first preset rule and a second preset rule, respectively, wherein the first preset rule and the second preset rule match, and the first preset rule is used to indicate an exposure rule for the camera device, and the second preset rule is used to indicate a lighting rule for the laser device; After receiving the synchronization signal sent by the camera device when capturing each frame of image, the MCU chip generates time information and sends it to the SOC chip; After receiving the time information, the SOC chip generates identification information of the image of the corresponding frame according to the time information; The SOC chip associates the generated identification information with the image of the corresponding frame.

2. The image processing method according to claim 1, wherein: After receiving the time information, the SOC chip generates identification information of the image of the corresponding frame according to the time information and the lighting status of the laser device presented on the image of the corresponding frame, and before the step of: The camera device stores each frame of image in the SOC chip when capturing the image; The SOC chip determines the lighting status of the laser device presented on the image based on the image.

3. The image processing method according to claim 2, wherein: The control method further includes: In response to the SOC chip acquiring at least multiple frames of continuous images captured by the camera device, determining whether the at least multiple frames of continuous images meet at least one section of a second preset rule, and obtaining a first determination result; When the first judgment result is no, the SOC chip controls to start a recovery mechanism.

4. The image processing method according to claim 3, wherein: The SOC chip controls the startup recovery mechanism, including: The SOC chip controls the camera device and the laser equipment to restart, or sends an abnormality warning to the user terminal.

5. The image processing method according to claim 1, wherein: Generating identification information of an image of a corresponding frame according to the time information includes: According to the time information and the lighting status of the laser device presented on the image of the corresponding frame, identification information of the image of the corresponding frame is generated.

6. The image processing method according to claim 1, wherein: The first preset rule and the second preset rule match, including that the exposure time of the camera device is synchronized with the lighting and non-lighting of the laser device.

7. The image processing method according to claim 6, wherein: The imaging device is exposed when the laser device is on, and is also exposed when the laser device is off, and the time interval of the exposure time of the imaging device is the same as the time interval of the laser device being on and off.

8. A movable device, characterized in that: The mobile device includes a SOC chip, an MCU chip, a laser device, and a camera device, and the SOC chip and the MCU chip are not on the same operating system; wherein, The SOC chip is configured to control the camera device and the laser device to start working according to a first preset rule and a second preset rule respectively, wherein the first preset rule and the second preset rule match, and the first preset rule is used to indicate an exposure rule of the camera device, and the second preset rule is used to indicate a lighting rule of the laser device; The MCU chip is configured to generate time information and send it to the SOC chip after receiving the synchronization signal sent by the camera device when capturing each frame of image; The SOC chip is configured to generate identification information of an image corresponding to a frame according to the time information after receiving the time information; The SOC chip is configured to associate the generated identification information with an image of a corresponding frame.

9. A movable device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the image processing method according to any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the image processing method according to any one of claims 1 to 8 is implemented.

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