I want to print an image from a command line:
lp -o scaling=//100// image.jpg
How can I force it to be printed in grayscale?
If you look in the PPD file for the current printer, you should get a hint of how to denote grayscale printing (or any option for that matter). It could be as above or ColorModel=Gray, ColorModel=Grayscale, etc.
Try the following command to search the options for printers on your system:
grep -i gr[ae]y /etc/cups/ppd/*.ppd
Open cups window in Raspberry pi os
menu > preferences > Print Settings > select your printer > Properties >
Printer Options > Color Model > Grayscale
You will have to convert the image to a grayscale version, by e.g GraphicsMagick or ImageMagick.