Image processing method and related device

Abstract

The present disclosure provides an image processing method, a controller, an image processing robot, and a non-transitory computer-readable storage medium, and relates to the technical field of robots. The image processing method includes the steps of controlling a reference light source to project a reference line in a longitudinal direction of a photographed object, controlling a camera to move in the longitudinal direction of the photographed object to photograph different segments of the photographed object and acquire images of the segments of the photographed object, each of the images including a different segment of the reference line, aligning the images by using the segment of the reference line included in each of the images as a reference, and splicing the aligned images to acquire a whole image of the photographed object.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is based on and claims the benefit of priority from Chinese Patent Application No. 202011296431.9, filed on November 18, 2020, the disclosure of which is incorporated herein in its entirety.

[0002] The present disclosure relates to the technical field of robots, and in particular to an image processing method, a controller, an image processing robot, and a non-transitory computer-readable storage medium. [Background technology]

[0003] The development of information technology has led to the large-scale construction of Internet data machine rooms, where 42U cabinets are commonly deployed, each approximately 2 meters high, with dozens of computers deployed inside.

[0004] An internet data machine room inspection robot is an intelligent device for assisting or replacing the manual execution of inspection tasks in the internet data machine room. The inspection robot generally uses a camera to photograph the computers in the cabinet and determines the operating status of the computers through image recognition techniques such as indicator light recognition and optical character recognition (OCR).

[0005] Due to the limited viewing angle of the camera, recognizing the operating status of the computers in one cabinet usually requires moving the camera from bottom to top to capture images of the cabinets at different heights so that all the computers in all the cabinets can be targeted. After capturing the images of all the cabinets, it is necessary to splice the images of the cabinets at different heights to generate a complete image of the cabinets while generating a report of the operating status of the computers. Summary of the Invention [Means for solving the problem]

[0006] According to a first aspect of the present disclosure, there is provided an image processing method including the steps of controlling a reference light source to project a reference line in a longitudinal direction of a photographed object; controlling a camera to move in a longitudinal direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line; aligning the images by utilizing the segment of the reference line included in each of the images as a reference; and splicing the aligned images to obtain a whole image of the photographed object.

[0007] In some embodiments, the reference illuminant is a near-infrared light source and the reference line is a near-infrared reference line, and aligning the images by utilizing a segment of the reference line included in each of the images as a reference includes converting the images to grayscale images, aligning the grayscale images by utilizing a segment of the near-infrared reference line included in each of the grayscale images as a reference, and converting the aligned grayscale images to a color image.

[0008] In some embodiments, a segment of the reference line is located at an edge of each of the images, and the image processing method further comprises cropping each of the images along the segment of the reference line.

[0009] In some embodiments, the longitudinal direction of the photographed object is a vertical direction, and the step of controlling the camera to move in the longitudinal direction of the photographed object includes sending a first control command to a lifting mechanism motor driver to control the lifting mechanism motor driver to drive and operate the lifting mechanism and enable the lifting mechanism to drive and move the camera on the workbench in the vertical direction.

[0010] In some embodiments, the step of controlling the reference light source to project a reference line in a vertical direction of the photographed object includes sending a second control command to the light source drive circuit to control the light source drive circuit to drive the reference light source and enable the reference light source to project the reference line through the slit in the vertical direction of the photographed object.

[0011] According to a second aspect of the present disclosure, there is provided a controller comprising: a reference line projection module configured to control a reference light source to project a reference line in a longitudinal direction of a photographed object; a camera control module configured to control a camera to move in a longitudinal direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line; an image alignment module configured to align the images by utilizing the segments of the reference line included in each of the images as a reference; and an image splicing module configured to splice the aligned images to obtain a complete image of the photographed object.

[0012] In some embodiments, the reference light source is a near-infrared light source, the reference line is a near-infrared reference line, and the image alignment module is configured to convert the images to grayscale images, align the grayscale images by utilizing a segment of the near-infrared reference line included in each of the grayscale images as a reference, and convert the aligned grayscale images to a color image.

[0013] In some embodiments, a segment of the reference line is located at an edge of each of the images, and the controller further comprises an image cropping module configured to crop each of the images along the segment of the reference line.

[0014] In some embodiments, the longitudinal direction of the photographed object is a vertical direction, and the camera control module is configured to send a first control command to a motor driver to control the motor driver of the lifting mechanism to drive and operate the lifting mechanism and enable the lifting mechanism to drive and move a workbench on which the camera is positioned in the vertical direction.

[0015] In some embodiments, the reference line projection module is configured to send a second control instruction to the light source driving circuit to control the light source driving circuit to drive the reference light source and enable the reference light source to project a reference line through the slit in the longitudinal direction of the photographed object.

[0016] According to a third aspect of the present disclosure, there is provided an image processing robot comprising: a reference light source; a camera; and a controller electrically connected to the reference light source and the camera, the controller configured to: control the reference light source to project a reference line in a longitudinal direction of a photographed object; control the camera to move in a longitudinal direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line; align the images by utilizing the segments of the reference line included in each of the images as a reference; and splice the aligned images to obtain a complete image of the photographed object.

[0017] In some embodiments, the reference light source is a near-infrared light source, the reference line is a near-infrared reference line, and the controller is configured to convert the images to grayscale images, align the grayscale images by utilizing as a reference a segment of the near-infrared reference line included in each of the grayscale images, and convert the aligned grayscale images to a color image.

[0018] In some embodiments, the reference line segment is located at an edge of the image, and the controller is further configured to crop the image along the reference line segment.

[0019] In some embodiments, the image processing robot further includes a lifting mechanism motor driver electrically connected to the controller, a lifting mechanism electrically connected to the lifting mechanism motor driver, and a workbench mechanically connected to the lifting mechanism, wherein the camera is fixed on the workbench and the longitudinal direction of the photographed object is a vertical direction, and the controller is configured to send a first control command to the lifting mechanism motor driver to control the lifting mechanism motor driver to drive and operate the lifting mechanism and enable the lifting mechanism to drive and move the camera on the workbench in the vertical direction.

[0020] In some embodiments, the image processing robot further comprises a light source driving circuit electrically connected to the controller and a slit located on the housing of the image processing robot, and the controller is configured to send a second control command to the light source driving circuit to control the light source driving circuit to drive the reference light source and enable the reference light source to project a reference line through the slit in the vertical direction of the photographed object.

[0021] In some embodiments, the lengthwise direction of the slit is vertical.

[0022] In some embodiments, the image processing robot further comprises a chassis motor driver electrically connected to the controller, a motion motor electrically connected to the chassis motor driver, and a power wheel electrically connected to the motion motor, and the controller is further configured to send a third control command to the chassis motor driver to control the chassis motor driver to drive the motion motor, allowing the motion motor to rotate and drive the power wheel to rotate.

[0023] In some embodiments, the imaging robot further comprises a laser radar electrically connected to the controller, the controller further configured to perform positioning via the laser radar.

[0024] In some embodiments, the image processing robot further comprises an inertial navigation unit electrically connected to the controller, the controller being further configured to navigate the image processing robot to the inspection coordinate point via the inertial navigation unit.

[0025] According to a fourth aspect of the present disclosure, there is provided another image processing robot comprising a memory and a processor coupled to the memory, the processor configured to perform the above image processing method based on instructions stored in the memory.

[0026] According to a fifth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions that, when executed by a processor, implement the image processing method set forth above.

[0027] Other features and advantages of the present disclosure will become apparent from the following detailed description of illustrative embodiments thereof, which proceeds with reference to the accompanying drawings.

[0028] In order to more clearly show the technical solutions of the embodiments of the present disclosure or related art, the drawings that need to be used to describe these embodiments or related art are briefly described below. In the following description, the drawings are merely some embodiments of the present disclosure, and it is obvious to those skilled in the art that other drawings can be obtained according to these drawings without creative efforts. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 is a schematic diagram of an inspection robot that inspects the inside of a machine room. [Figure 2]FIG. 10 is a schematic diagram of an overall image of a cabinet spliced ​​by an inspection robot. [Figure 3] 1 is a schematic flow diagram of an image processing method according to some embodiments of the present disclosure. [Figure 4] 1 is a schematic diagram of image matching and splicing of segments of a photographed object. FIG. [Figure 5] FIG. 2 is a schematic structural diagram of a controller according to some embodiments of the present disclosure. [Figure 6] FIG. 1 is a schematic structural diagram of an image processing robot according to some embodiments of the present disclosure. [Figure 7] FIG. 1 is a schematic physical diagram of an imaging robot. [Figure 8] FIG. 1 is a schematic diagram of a projection of a reference line using a reference light source. [Figure 9] FIG. 1 is a schematic diagram of an image processing robot inspecting the inside of a machine room. [Figure 10] FIG. 10 is a schematic structural diagram of an image processing robot according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0030] The technical solutions in the embodiments of the present disclosure are clearly and completely described with reference to the drawings in the embodiments of the present disclosure, and it is clear that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments of the present disclosure. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the present disclosure and its applications or uses. All other embodiments obtained by those skilled in the art based on the embodiments in the present disclosure without creative efforts are intended to be within the protection scope of the present disclosure.

[0031] Figure 1 shows a schematic diagram of an inspection robot inspecting a machine room. As shown in Figure 1, there is some jitter in the process of raising and lowering (vertical movement) the inspection robot's camera, resulting in lateral misalignment of the camera. Thus, when images of cabinets at different heights are spliced ​​vertically, there is a lateral misalignment between the images. As a result, the overall image quality of the spliced ​​cabinet is insufficient, which affects the visual effect. Figure 2 shows a schematic diagram of the overall image of the cabinet spliced ​​by the inspection robot.

[0032] To solve the above problems, the present disclosure provides an image processing method that allows images of photographed object segments to be aligned, thereby improving the quality of the spliced ​​image, which will be discussed in detail below.

[0033] Some embodiments of the image processing method of the present disclosure will first be described with reference to FIG.

[0034] 3 shows a schematic flow chart of an image processing method according to some embodiments of the present disclosure. As shown in FIG. 3, the method includes steps S301 to S304.

[0035] In step S301, the reference light source is controlled to project a reference line in the vertical direction of the photographed object.

[0036] For example, the reference light source is controlled to project a reference line vertically toward the cabinet, and when the reference line is projected, a control command is sent to the light source driving circuit to control the light source driving circuit to drive the reference light source so that the reference light source can project the reference line through the slit in the vertical direction of the photographed object.

[0037] In step S302, the camera is controlled to move longitudinally of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line from each other.

[0038] In some embodiments, the longitudinal direction of the photographed object is a vertical direction. Correspondingly, in step S302, a first control instruction may be sent to a lifting mechanism motor driver to control the lifting mechanism motor driver to drive and operate the lifting mechanism, thereby enabling the lifting mechanism to drive and move the camera on the workbench in the vertical direction.

[0039] In step S303, the images of the photographed object segments are aligned by using the reference-line segments contained in each of the images of the photographed object segments as a reference.

[0040] In some embodiments, the reference light source is a near-infrared light source, and the reference line is a near-infrared reference line. Figure 4 shows a schematic diagram of matching and splicing images of segments of a photographed object. As shown in Figure 4, assume that an image processing robot photographs segments of a photographed object to obtain four images A, B, C, and D. Then, the image processing robot converts the images of the photographed segments of the object into grayscale images, and performs grayscale conversion. in front of The image retains color information (e.g., RGB color information) of the captured image of the object segment. After grayscale conversion, the reference-line segment projected by the near-infrared light source is very obviously different from other areas, and by using the near-infrared reference-line segment contained in each grayscale image as a reference, the image processing robot aligns the grayscale images, for example, aligns images of a cabinet captured at different heights.

[0041] In step S304, the aligned images are spliced ​​together to obtain a complete image of the photographed object.

[0042] When splicing the aligned images, by using the color information reserved before grayscale conversion, the aligned grayscale images are converted into color images, so that a full color image of the cabinet is obtained.

[0043] In some embodiments, the image processing method further comprises step S305. In step S305, each of the captured images of the object segments is cropped along a segment of the reference line. The segment of the reference line is located at each edge of the image. As shown in FIG. 4, when the spliced ​​image is cropped, for example, an area on the left side of the reference line may be exposed.

[0044] In the above embodiment, in the process of using a camera to photograph an object, the reference light source is controlled to project a reference line toward the photographed object. In this way, the camera can photograph images of segments of the photographed object, each of which includes a segment of the reference line. The images of the segments of the photographed object are spliced ​​based on the segment of the reference line included in each of the images, so that the images of the segments of the photographed object can be aligned more accurately, thereby improving the image quality of the spliced ​​image.

[0045] Some embodiments of the controller of the present disclosure will be described with reference to FIG.

[0046] 5 shows a schematic structural diagram of a controller according to some embodiments of the present disclosure. As shown in FIG. 5, the controller 50 includes a reference line projection module 501 configured to control a reference light source to project a reference line in a longitudinal direction of the photographed object, a camera control module 502 configured to control a camera to move in a longitudinal direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line, an image alignment module 503 configured to align the images by utilizing the segments of the reference line included in each of the images as a reference, and an image splicing module 504 configured to splice the aligned images to obtain a full image of the photographed object.

[0047] In some embodiments, the reference light source is a near-infrared light source, the reference line is a near-infrared reference line, and the image alignment module 503 is configured to convert the images to grayscale images, align the grayscale images by utilizing a segment of the near-infrared reference line included in each of the grayscale images as a reference, and convert the aligned grayscale images to a color image.

[0048] In some embodiments, a segment of the reference line is located at an edge of each of the images, and the controller 50 further comprises an image cropping module 505 configured to crop each of the images along the segment of the reference line.

[0049] In some embodiments, the longitudinal direction of the photographed object is a vertical direction, and the camera control module 502 is configured to send a first control command to a motor driver for controlling the motor driver of the lifting mechanism to drive and operate the lifting mechanism and enable the lifting mechanism to drive and move a workbench on which the camera is positioned in the vertical direction.

[0050] In some embodiments, the reference line projection module 501 is configured to send a second control command to the light source driving circuit to control the light source driving circuit to drive the reference light source and enable the reference light source to project a reference line through the slit in the longitudinal direction of the photographed object.

[0051] In the above embodiment, while controlling the camera to photograph the photographed object, the controller controls the reference light source to project a reference line toward the photographed object. In this way, the camera can photograph images of segments of the photographed object, and each of the images of the segments of the photographed object includes a segment of the reference line. The images of the segments of the photographed object are spliced ​​based on the segment of the reference line included in each of the images to enable the images of the segments of the photographed object to be aligned more accurately, thereby improving the image quality of the spliced ​​image.

[0052] Several embodiments of the image processing robot of the present disclosure are described below with reference to FIG.

[0053] 6 shows a schematic structural diagram of an image processing robot according to some embodiments of the present disclosure. As shown in FIG. 6, the image processing robot 60 includes a reference light source 601, a camera 602, and a controller 603 electrically connected to the reference light source 601 and the camera 602, configured to: control the reference light source 601 to project a reference line in a vertical direction of the photographed object; control the camera 602 to move in the vertical direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line; align the images by using the segments of the reference line included in each of the images as a reference; and splice the aligned images to obtain a full image of the photographed object.

[0054] In some embodiments, the reference light source 601 is a near-infrared light source, the reference line is a near-infrared reference line, and the controller 603 is configured to convert the images to grayscale images, align the grayscale images by utilizing a segment of the near-infrared reference line included in each of the grayscale images as a reference, and convert the aligned grayscale images to a color image.

[0055] In some embodiments, the reference line segments are located at edges of the images, and the controller 603 is further configured to crop each of the images along the reference line segments.

[0056] In some embodiments, the image processing robot 60 further includes a lifting mechanism motor driver 604 electrically connected to the controller 603, a lifting mechanism 605 electrically connected to the lifting mechanism motor driver 604, and a workbench 606 mechanically connected to the lifting mechanism 605, wherein the camera 602 is fixed on the workbench 606, the longitudinal direction of the photographed object is vertical, and the controller 603 is configured to drive and operate the lifting mechanism 605 and send a first control command to the lifting mechanism motor driver 604 to control the lifting mechanism motor driver 604 to enable the lifting mechanism 605 to drive and move the camera 602 on the workbench 606 in the vertical direction.

[0057] In some embodiments, the image processing robot 60 further includes a light source driving circuit 607 electrically connected to the controller 603 and a slit 608 located on the housing of the image processing robot, and the controller 603 is configured to send a second control command to the light source driving circuit 607 to control the light source driving circuit 607 to drive the reference light source 601 and enable the reference light source 601 to project a reference line in the vertical direction of the photographed object through the slit 608. It will be appreciated by those skilled in the art that the controller 603 sends a different control command to the light source driving circuit 607 to turn on or off the near-infrared light source.

[0058] In some embodiments, the lengthwise direction of the slit 608 is vertical.

[0059] In the above embodiment, while controlling the camera to photograph the photographed object, the image processing robot controls the reference light source to project a reference line toward the photographed object. In this way, the camera can photograph images of segments of the photographed object, and each of the images of the segments of the photographed object includes a segment of the reference line. The images of the segments of the photographed object are spliced ​​based on the segment of the reference line included in each of the images to enable the images of the segments of the photographed object to be aligned more accurately, thereby improving the image quality of the spliced ​​image.

[0060] FIG. 7 shows a schematic physical diagram of the image processing robot. As shown in FIG. 7, a reference light source 601 and a controller 603 are provided inside the housing of the image processing robot. When the reference light source 601 is a near-infrared light source, the reference light source 601 may project a near-infrared reference line. A lifting mechanism motor driver 604 may be provided inside or outside the housing of the image processing robot. A lifting mechanism 605 electrically connected to the lifting mechanism motor driver 604 is provided outside the housing of the image processing robot, for example, on the side of the housing of the image processing robot. The camera 602 is mounted on a workbench 606, and the workbench 606 may be moved up and down by the lifting mechanism 605. The controller 603 can send a first control command to the lifting mechanism motor driver 604 to control the lifting mechanism motor driver 604 to drive and operate the lift 605 so that the lift 605 drives and moves the camera 602 on the workbench 606 vertically to complete photographing a segment of the photographed object (e.g., photographing images of the entire cabinet at different heights).

[0061] A light source driving circuit 607 electrically connected to the controller 603 is also provided inside the housing of the image processing robot. A slit 608 is provided in the housing, and the longitudinal direction of the slit 608 is vertical. The controller 603 can control the light source driving circuit 607 to drive the reference light source 601 so that the reference light source 601 projects a reference line vertically through the slit 608 by sending a second control command to the light source driving circuit 607. The projection direction in which the reference light source 601 projects the reference line through the slit 608 is the same as the shooting direction of the camera. It will be appreciated by those skilled in the art that the controller 603 can send different control commands to the light source driving circuit 607 to turn on or off the near-infrared light source.

[0062] FIG. 8 shows a schematic diagram of the projection of a reference line using a reference light source. As shown in FIG. 8, when the image processing robot is located at the inspection point in the machine room, the near-infrared light source can project a vertical reference line onto the cabinet through a slit, and the plane on which the reference line is located can be perpendicular to the surface of the cabinet. Those skilled in the art will appreciate that although the reference line projected by the near-infrared light source is invisible to the human eye, the camera can capture the reference line projected by the near-infrared light source. In this case, the controller sends a capture command to the camera. The camera of one segment of the photographed object After completing the photographing, the controller sends a control command to the lifting mechanism motor driver to enable the workbench to move upward a fixed distance, and again sends a photographing command to the camera until the camera has finished photographing an image of the photographed object segment.

[0063] In some embodiments, the image processing robot 60 further includes a chassis motor driver 609 electrically connected to the controller 603, a motion motor 610 electrically connected to the chassis motor driver 609, and a power wheel 611 electrically connected to the motion motor 610, and the controller 603 is further configured to send a third control command to the chassis motor 609 to control the chassis motor driver 609 to drive the motion motor 610, causing the motion motor 610 to rotate and drive and rotate the power wheel 611.

[0064] The chassis motor driver 609, the motion motor 610, and the power wheels 611 form the power system of the image processing robot. The controller sends control commands to the chassis motor driver 609, and the chassis motor driver 609 controls the motion motor 610 to rotate so that actions of the image processing robot, such as moving forward, backward, turning, etc., can be realized.

[0065] In some embodiments, the image processing robot 60 further comprises a laser radar 612 electrically connected to the controller 603 , the controller 603 further configured to perform positioning using the laser radar 612 .

[0066] In some embodiments, the image processing robot 60 further includes an inertial navigation unit 613 electrically connected to the controller 603, and the controller 603 is further configured to navigate the image processing robot 60 to the inspection coordinate point via the inertial navigation unit 613.

[0067] The laser radar 612 and the inertial navigation unit 613 form a navigation system for the inspection robot, which enables the image processing robot to perform positioning and navigation for itself within the machine room. FIG. 9 shows a schematic diagram of the image processing robot inspecting the machine room. As shown in FIG. 9, the image processing robot performs an inspection task within the machine room according to a planned path, and when the image processing robot reaches the coordinates (xn, yn) of the inspection point (i.e., directly in front of the cabinet that needs to be inspected), the image processing robot performs the above-mentioned image processing method. After the image processing method is performed at the coordinates of the current inspection point, the controller sends a control command to the light source driving circuit to turn off the reference light source, and controls the image processing robot to move to the coordinates of the next inspection point.

[0068] In the embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely examples, and for example, the division of units may be logical function division. In actual implementation, other divisions may exist, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. On the other hand, the shown or discussed couplings or direct couplings or communication connections with each other may be indirect couplings or communication couplings via some interfaces, units, or modules, and may be in electrical or other forms.

[0069] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed over multiple units. Some or all of the units may be selected according to the actual needs to achieve the purpose of solving the embodiment.

[0070] In addition, the functional units of the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0071] Another embodiment of the image processing robot of the present disclosure is described below with reference to FIG.

[0072] 10 shows a schematic structural diagram of an image processing robot according to another embodiment of the present disclosure. As shown in FIG. 10, the image processing robot 100 includes a memory 1010 and a processor 1020 coupled to the memory 1010, and the processor 1020 is configured to execute the image processing method according to any of the embodiments based on instructions stored in the memory 1010.

[0073] Memory 1010 may comprise, for example, system memory, fixed non-volatile storage media, etc. System memory stores, for example, an operating system, applications, a boot loader, other programs, etc.

[0074] The image processing robot 100 may further include an input / output interface 1030, a network interface 1040, a storage interface 1050, etc. These interfaces 1030, 1040, 1050, and the memory 1010 may be connected to the processor 1020, for example, via a bus 1060. The input / output interface 1030 provides a connection interface to input devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 1040 provides a connection interface to various network devices. The storage interface 1050 provides a connection interface to external storage devices such as an SD card and a USB flash disk.

[0075] The present disclosure further comprises a non-transitory computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the image processing method of any of the above embodiments.

[0076] The aforementioned integrated unit may be implemented in the form of a software functional unit and stored in a computer-readable storage medium when sold or used as an independent product. Based on such understanding, the essence of the technical solution of the present disclosure, or a portion thereof contributing to the related technology, or all or a portion of the technical solution, may be implemented in the form of a software product stored in a storage medium and including several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or a portion of the steps of the method according to the embodiments of the present disclosure. The aforementioned storage medium may include various media capable of storing program code, such as a USB flash disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0077] The present disclosure has been described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block of the flowcharts and / or block diagrams, and combinations of flows and / or blocks of the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to create a machine, such that the instructions, executed by the processor of the computer or other programmable data processing device, generate means for implementing the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0078] These computer program instructions may be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, so as to produce an article of manufacture having instruction means that implement the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams, where the instructions stored in the computer-readable memory product.

[0079] These computer program instructions may be loaded onto a computer or other programmable data processing device to cause the computer or other programmable data processing device to perform a series of operational steps to create a computer-implemented process, such that the instructions, which execute on the computer or other programmable data processing device, provide steps for implementing the functions specified in one or more flows of the flowcharts and / or one or more blocks of the block diagrams.

[0080] It should be noted that terms such as "first," "second," and the like in the description and claims of this application, as well as in the above-mentioned accompanying drawings, are used to distinguish between similar objects and not necessarily to describe a particular order or arrangement. It should be understood that such terms may be interchanged under appropriate circumstances to facilitate the description of the embodiments of the application herein. Furthermore, the terms "comprise" and "have," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units is not necessarily limited to those steps or units expressly recited, but may include other steps or units that are not expressly recited or inherent to the process, method, product, or device.

[0081] The use of "comprise," "include," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, product, or device comprising a set of elements comprises not only those elements but also other elements not expressly recited or inherent to such process, method, product, or device. Without further limitation, an element defined by the phrase "comprising ..." does not exclude the presence of other identical elements in the process, method, product, or device that comprise that element.

[0082] The above description is merely a preferred embodiment of the present disclosure, and is not used to limit the present disclosure, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure are intended to be included in the protection scope of the present disclosure. [Explanation of symbols]

[0083] 50 Controllers 60 Image Processing Robot 100 Image Processing Robot 501 Baseline Projection Module 502 Camera Control Module 503 Image Alignment Module 504 Image Splicing Module 505 Image Cropping Module 601 Reference light source 602 Camera 603 Controller 604 Lifting mechanism motor driver 605 Lifting mechanism, lift 606 Workbench 607 Light source driving circuit 608 Slit 609 Chassis Motor Driver 610 Motion Motor 611 Power Wheels 612 Laser Radar 613 Inertial Navigation Unit 1010 memory 1020 processor 1030 Input / Output Interface, Interface 1040 Network Interface, Interface 1050 Storage Interface, Interface 1060 Bus

Claims

1. An image processing method executed by a controller in an image processing robot, comprising: controlling a reference light source to project a reference line in a longitudinal direction of the photographed object, wherein the reference light source is a near-infrared light source and the reference line is a near-infrared reference line; controlling a camera to move in the longitudinal direction of the photographed object to photograph different segments of the photographed object and to obtain images of the segments of the photographed object, each of the images comprising a different segment of the reference line; aligning the images by utilizing the segments of the reference line contained in each of the images as references, the steps including converting the images to grayscale images; aligning the grayscale images by utilizing the segments of the near-infrared reference line contained in each of the grayscale images as references; and converting the aligned grayscale images to color images; splicing the aligned images to obtain a complete image of the photographed object; An image processing method comprising:

2. the segments of the reference line are located at each edge of the image, and the image processing method comprises: cropping said each of said images along said segment of said reference line; The image processing method of claim 1 , further comprising:

3. The longitudinal direction of the photographed object is a vertical direction, and the step of controlling the camera to move in the longitudinal direction of the photographed object includes: sending a first control command to a lifting mechanism motor driver to control the lifting mechanism motor driver to drive and operate a lifting mechanism and enable the lifting mechanism to drive and move the camera on the workbench in the vertical direction; The image processing method of claim 1 , comprising:

4. the step of controlling the reference light source to project the reference line in the longitudinal direction of the photographed object, sending a second control command to the light source driving circuit to control the light source driving circuit to drive the reference light source and enable the reference light source to project the reference line in the longitudinal direction of the photographed object through a slit; The image processing method of claim 1 , comprising:

5. a controller, a reference line projection module configured to control a reference light source to project a reference line in a longitudinal direction of an imaged object, wherein the reference light source is a near-infrared light source and the reference line is a near-infrared reference line; a camera control module configured to control a camera to move in the longitudinal direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, each of the images including a different segment of the reference line; and an image alignment module configured to align the images by utilizing the segments of the reference line contained within each of the images as references; an image splicing module configured to splice the aligned images to obtain a complete image of the photographed object; Equipped with and aligning the images by utilizing the segments of the reference line contained in each of the images as references includes converting the images to grayscale images, aligning the grayscale images by utilizing the segments of the near-infrared reference line contained in each of the grayscale images as the references, and converting the aligned grayscale images to color images.

6. 6. The controller of claim 5, wherein the segments of the reference line are located at edges of each of the images, and the controller further comprises an image cropping module configured to crop each of the images along the segments of the reference line.

7. 6. The controller of claim 5, wherein the longitudinal direction of the photographed object is a vertical direction, and the camera control module is configured to send a first control command to a motor driver of the lifting mechanism to control the motor driver to drive and operate the lifting mechanism and enable the lifting mechanism to drive and move a workbench on which the camera is disposed in the vertical direction.

8. 6. The controller of claim 5, wherein the reference line projection module is configured to send a second control command to the light source driving circuit to control the light source driving circuit to drive the reference light source and enable the reference light source to project the reference line through a slit in the longitudinal direction of the photographed object.

9. An image processing robot, a reference light source; A camera and a controller electrically connected to the reference light source and the camera, the controller being configured to: control the reference light source to project a reference line in a longitudinal direction of the photographed object, wherein the reference light source is a near-infrared light source and the reference line is a near-infrared reference line; control the camera to move in the longitudinal direction of the photographed object to photograph different segments of the photographed object and obtain images of the segments of the photographed object, wherein each of the images includes a different segment of the reference line; convert the images to grayscale images, align the grayscale images by using the segment of the near-infrared reference line included in each of the grayscale images as a reference, convert the aligned grayscale images to a color image; and splice the aligned images to obtain a full image of the photographed object; An image processing robot comprising:

10. An image processing robot as described in Claim 9, wherein the segments of the reference line are located at the edges of each of the images, and the controller is further configured to crop each of the images along the segments of the reference line.

11. a lifting mechanism motor driver electrically connected to the controller; a lifting mechanism electrically connected to the lifting mechanism motor driver; a workbench mechanically connected to the lifting mechanism; the camera is fixed on the work bench; 10. The image processing robot of claim 9, wherein the longitudinal direction of the photographed object is a vertical direction, and the controller is configured to send a first control command to the lifting mechanism motor driver to control the lifting mechanism motor driver to drive and operate the lifting mechanism, and to enable the lifting mechanism to drive and move the camera on the workbench in the vertical direction.

12. a light source driving circuit electrically connected to the controller; a slit located on the housing of the image processing robot; Furthermore, 10. The image processing robot of claim 9, wherein the controller is configured to send a second control command to the light source driving circuit to control the light source driving circuit to drive the reference light source and enable the reference light source to project the reference line through the slit in the longitudinal direction of the photographed object.

13. The image processing robot according to claim 12 , wherein the longitudinal direction of the slit is a vertical direction.

14. a chassis motor driver electrically connected to the controller; a motion motor electrically connected to the chassis motor driver; a power wheel electrically connected to the motion motor; Furthermore, 10. The image processing robot of claim 9, wherein the controller is further configured to send a third control command to the chassis motor driver to control the chassis motor driver to drive the motion motor, allowing the motion motor to rotate and drive the power wheel to rotate.

15. a laser radar electrically connected to the controller; Furthermore, The image processing robot of claim 9 , wherein the controller is further configured to perform positioning via the laser radar.

16. an inertial navigation unit electrically connected to the controller Furthermore, The imaging robot of claim 15 , wherein the controller is further configured to navigate the imaging robot to an inspection coordinate point via the inertial navigation unit.

17. An image processing robot, Memory and a processor coupled to the memory, the processor configured to perform the image processing method of any one of claims 1 to 4 based on instructions stored in the memory; An image processing robot comprising:

18. 5. A non-transitory computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, cause the processor to perform the image processing method of any one of claims 1 to 4.

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