CN115002355B - Image shooting parameter adjusting method and device and capsule endoscope - Google Patents
Image shooting parameter adjusting method and device and capsule endoscope Download PDFInfo
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- CN115002355B CN115002355B CN202210766992.3A CN202210766992A CN115002355B CN 115002355 B CN115002355 B CN 115002355B CN 202210766992 A CN202210766992 A CN 202210766992A CN 115002355 B CN115002355 B CN 115002355B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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Abstract
The invention discloses a method and a device for adjusting image shooting parameters, which are used for acquiring the quantity of motion of a capsule endoscope relative to the quantity of motion of a previous shooting image before the current shooting image, adjusting the shooting parameters of the previous shooting image according to the quantity of motion of the capsule endoscope, taking the adjusted shooting parameters as the shooting parameters of the current shooting image, further carrying out the current shooting according to the adjusted shooting parameters. The invention also discloses a capsule type endoscope.
Description
Technical Field
The present invention relates to the field of automation control, and in particular, to a method and an apparatus for adjusting an image capturing parameter. The invention also relates to a capsule endoscope.
Background
The capsule type endoscope is used for checking the health condition of the gastrointestinal or esophageal parts of a human body, enters the human body, moves along with peristalsis of the internal parts or by gravity, and can observe the checked parts and make disease diagnosis according to the obtained images by shooting the checked parts.
As the capsule endoscope moves in the body, in order to ensure that a satisfactory image is captured, such as an image that is not overexposed or underexposed, the imaging parameters of the image sensing device in the endoscope need to be adjusted in real time. In the prior art, an image sensing device uses shooting parameters of a last shot image to perform current shooting, and if the current shot image does not meet the requirement, the shooting parameters are adjusted and the shooting is performed again, so that a plurality of invalid shooting is caused, the electric quantity is consumed, and the shooting efficiency is reduced.
Disclosure of Invention
The invention aims to provide a method and a device for adjusting image shooting parameters, which can reduce invalid shooting, save power consumption and improve shooting efficiency. The invention also provides a capsule type endoscope.
In order to achieve the above purpose, the present invention provides the following technical solutions:
An image shooting parameter adjusting method is applied to a capsule endoscope and comprises the following steps:
Acquiring the quantity of motion of the capsule endoscope relative to the previous shot image before the current shot image;
According to the quantity of motion of the capsule endoscope, adjusting shooting parameters of a previous shooting image, and taking the adjusted shooting parameters as shooting parameters of the current shooting image.
Preferably, the movement amount of the capsule endoscope includes a movement distance of the capsule endoscope with respect to a previous captured image or/and a movement azimuth of the capsule endoscope with respect to a previous captured image.
Preferably, acquiring the amount of motion of the capsule endoscope relative to the previous captured image before the previous captured image includes: and acquiring the acceleration of the capsule endoscope between the previous shot image and the previous shot image, and acquiring the moving distance of the capsule endoscope relative to the previous shot image according to the acquired acceleration.
Preferably, acquiring the amount of motion of the capsule endoscope relative to the previous captured image before the previous captured image includes: and acquiring the angular velocity of the capsule endoscope from the previous shot image to the previous shot image, and acquiring the moving azimuth of the capsule endoscope relative to the previous shot image according to the acquired angular velocity.
Preferably, adjusting the shooting parameters of the previous shot image according to the motion amount of the capsule endoscope includes:
if the motion quantity of the capsule endoscope reflects that the capsule endoscope is far away from a shot object relative to the shot image of the previous time, adjusting shooting parameters of the shot image of the previous time so that the brightness of an image obtained after the shot image of the current time is carried out according to the adjusted shooting parameters is not reduced;
If the motion quantity of the capsule endoscope reflects that the capsule endoscope approaches a shot object relative to the shot image of the previous time, the shooting parameters of the shot image of the previous time are adjusted, so that the brightness of the image obtained after the shot image of the current time is carried out according to the adjusted shooting parameters is not increased.
Preferably, adjusting the shooting parameters of the previous shot image according to the motion amount of the capsule endoscope includes:
If the movement amount of the capsule endoscope reflects that the capsule endoscope is far away from an object and the movement distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1+t;
If the motion amount of the capsule endoscope reflects that the capsule endoscope is close to an object and the moving distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1-t, where t1 represents the exposure time of the previous shot image, t represents the correction exposure time, and t=k×l, k represents the correction coefficient.
Preferably, the method further comprises: and carrying out current shooting of the image according to the adjusted shooting parameters, and adjusting the shooting parameters of the current shooting of the image if the brightness of the shot image does not meet the requirement.
Preferably, the shooting parameters include exposure time, flash illumination time length or image gain.
An image shooting parameter adjusting device is applied to a capsule endoscope and comprises:
An acquisition module for acquiring the motion quantity of the capsule endoscope relative to the previous shot image before the previous shot image;
And the adjusting module is used for adjusting shooting parameters of the previous shooting image according to the motion quantity of the capsule endoscope, and taking the adjusted shooting parameters as the shooting parameters of the current shooting image.
The capsule endoscope comprises a capsule body, wherein an image sensing device and an image shooting parameter adjusting device are arranged in the capsule body, the image sensing device is used for generating an image based on acquired light, the image shooting parameter adjusting device is connected with the image sensing device and is used for adjusting shooting parameters of the image sensing device by applying the image shooting parameter adjusting method or the image shooting parameter adjusting device is the image shooting parameter adjusting device.
According to the technical scheme, the method and the device for adjusting the image shooting parameters acquire the quantity of motion of the capsule endoscope relative to the quantity of motion of the capsule endoscope when the image is shot at the previous time before the image is shot at the current time, adjust the shooting parameters of the image shot at the previous time according to the quantity of motion of the capsule endoscope, take the adjusted shooting parameters as the shooting parameters of the image shot at the current time, and further can carry out shooting at the current time according to the adjusted shooting parameters. The image shooting parameter adjusting method and device avoid a plurality of ineffective shooting caused by directly shooting the image at the current time according to the shooting parameter of the image shot at the previous time, can reduce the ineffective shooting, can save power consumption and can improve shooting efficiency.
The capsule endoscope provided by the invention can achieve the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for adjusting image capturing parameters according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for adjusting parameters of image capturing according to still another embodiment of the present invention;
fig. 3 is a schematic view of a capsule endoscope according to an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of an image capturing parameter adjustment method provided in the present embodiment, and as shown in the drawing, the image capturing parameter adjustment method is applied to a capsule endoscope, and includes the following steps:
s11: the amount of motion of the capsule endoscope relative to the previous captured image before the previous captured image is acquired.
The movement amount of the capsule type endoscope characterizes the movement condition of the capsule type endoscope. For example, the movement amount of the capsule endoscope with respect to the previous captured image before the previous captured image characterizes the movement of the capsule endoscope with respect to the previous captured image before the previous captured image, and the movement of the capsule endoscope with respect to the subject can be known from the movement amount.
S12: according to the quantity of motion of the capsule endoscope, adjusting shooting parameters of a previous shooting image, and taking the adjusted shooting parameters as shooting parameters of the current shooting image.
The image shooting parameter adjustment method of the embodiment avoids a plurality of ineffective shooting caused by directly shooting the image at the current time according to the shooting parameter of the image shot at the previous time, can reduce the ineffective shooting, can save power consumption and can improve shooting efficiency.
In the present embodiment, the specific content of the movement amount of the capsule endoscope is not limited, and the movement condition of the capsule endoscope with respect to the subject in the corresponding period may be reflected based on the movement amount. Alternatively, the movement amount of the capsule type endoscope may include a movement distance of the capsule type endoscope with respect to the previous captured image, or/and a movement azimuth of the capsule type endoscope with respect to the previous captured image. The moving distance of the capsule endoscope with respect to the subject before the current shot image can be reflected according to the moving distance of the capsule endoscope before the current shot image with respect to the previous shot image. The moving direction of the capsule endoscope relative to the shot object before the current shot image can be reflected according to the moving direction of the capsule endoscope relative to the shot image before the current shot image.
Optionally, acquiring the amount of motion of the capsule endoscope relative to the previous captured image before the previous captured image includes: and acquiring the acceleration of the capsule endoscope between the time before the image is shot and the time before the image is shot, and acquiring the moving distance of the capsule endoscope relative to the time when the image is shot according to the acquired acceleration. In practical applications, an acceleration sensor may be used to measure the acceleration of the movement of the capsule endoscope, the velocity of the capsule endoscope may be calculated from the acceleration of the capsule endoscope, and the movement distance may be calculated from the velocity.
Optionally, acquiring the amount of motion of the capsule endoscope relative to the previous captured image before the previous captured image includes: and acquiring the angular velocity of the capsule endoscope from the previous shot image to the previous shot image, and acquiring the moving azimuth of the capsule endoscope relative to the previous shot image according to the acquired angular velocity. In practical applications, the angular velocity of the capsule endoscope may be measured using an angular velocity sensor, including but not limited to a gyroscope. The movement angle of the capsule endoscope can be calculated from its angular velocity.
In practical application, the capsule endoscope shoots images with a certain frequency, for example, the interval time between two adjacent shooting images is 100-500 ms, and even longer, the capsule can move in the body in the interval time, and the position or/and the pose changes.
In this embodiment, the specific method for adjusting the shooting parameters of the previous shot image according to the motion amount of the capsule endoscope is not limited, and in practical application, the method may be set according to the motion condition of the capsule endoscope and the requirement for shooting the image. In this embodiment, the specific content of the shooting parameters is not limited, and the shooting parameters may include, but are not limited to, exposure time, flash lighting duration, or image gain size.
Optionally, the shooting parameters of the previous shot image can be adjusted according to the following method, including: if the motion quantity of the capsule endoscope reflects that the capsule endoscope is far away from a shot object relative to the shot image of the previous time, adjusting shooting parameters of the shot image of the previous time so that the brightness of an image obtained after the shot image of the current time is carried out according to the adjusted shooting parameters is not reduced; if the motion quantity of the capsule endoscope reflects that the capsule endoscope approaches a shot object relative to the shot image of the previous time, the shooting parameters of the shot image of the previous time are adjusted, so that the brightness of the image obtained after the shot image of the current time is carried out according to the adjusted shooting parameters is not increased.
If the movement quantity of the capsule endoscope reflects that the capsule endoscope is far away from the shot object relative to the previous shot image, if the current shot is directly performed according to the shooting parameters of the previous shot image, the brightness of the shot image is reduced compared with that of the previous shot image, and even underexposure or over-dark brightness of the shot image occurs. In this case, therefore, the shooting parameters of the previous shot image are adjusted, such as increasing the exposure time, increasing the flash lighting time or increasing the image gain, so that the brightness of the image obtained after the current shot image is performed according to the adjusted shooting parameters can meet the requirements.
If the movement amount of the capsule endoscope reflects that the capsule endoscope approaches the shot object when the capsule endoscope shoots an image relative to the previous time, if the current shooting is directly performed according to the shooting parameters of the image shot before, the brightness of the shot image is increased compared with that of the shot image before, and even overexposure or the brightness of the shot image is too bright. In this case, therefore, the shooting parameters of the previous shot image are adjusted, such as the exposure time is reduced, the flash lighting time is reduced, or the image gain is reduced, so that the brightness of the image obtained after the current shot image is performed according to the adjusted shooting parameters can meet the requirements.
For example, if the photographing parameter to be adjusted is exposure time, the photographing parameter of the previous photographed image may be adjusted according to the motion amount of the capsule type endoscope according to the following method, including: if the movement amount of the capsule endoscope reflects that the capsule endoscope is far away from an object and the movement distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1+t; if the motion amount of the capsule endoscope reflects that the capsule endoscope is close to an object and the moving distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1-t, where t1 represents the exposure time of the previous shot image, t represents the correction exposure time, and t=k×l, k represents the correction coefficient. In practical application, the correction coefficient k is an empirical value, and k may vary from 0.1 to 10 according to different image sensor characteristics. It will be appreciated that in other embodiments, the exposure time, the flash lighting time or the image gain of the previous shot image may be adjusted according to the motion amount of the capsule endoscope in other manners, which are all within the scope of the present invention.
Referring to fig. 2, fig. 2 is a flowchart of a method for adjusting parameters of image capturing according to still another embodiment, and as shown in the drawing, the method further includes the following steps based on the above embodiment:
s13: and carrying out current image shooting according to the adjusted shooting parameters.
S14: and judging whether the brightness of the image obtained by shooting meets the requirement. If not, the process proceeds to step S15.
S15: and adjusting shooting parameters of the current shot image according to the brightness of the shot image.
In this embodiment, the requirement for meeting the brightness of the image is not specifically limited, the method for adjusting the shooting parameters of the current shot image according to the brightness of the shot image is not limited, and the method can be set correspondingly in practical application. Alternatively, the requirement to be met by the brightness of the image may be that the average value of the brightness values of the pixels of the image is within the preset brightness range, and if the average value of the brightness of the photographed image is not within the preset brightness range, the photographing parameters are adjusted. For example, the preset brightness range is 70-110, if the average brightness value of the shot image is less than 70, the image can be considered as underexposure, and the exposure time is increased; if the average brightness of the photographed image is greater than 110, the exposure time may be reduced.
After the shooting parameters of the current shooting image are adjusted according to the brightness of the shooting obtained, when the next shooting image is carried out, the shooting parameters after the current shooting image adjustment can be adjusted again according to the motion quantity of the capsule endoscope relative to the current shooting image before the next shooting image so as to carry out the next shooting image.
Correspondingly, the embodiment also provides an image shooting parameter adjusting device, which is applied to the capsule endoscope and comprises:
An acquisition module for acquiring the motion quantity of the capsule endoscope relative to the previous shot image before the previous shot image;
And the adjusting module is used for adjusting shooting parameters of the previous shooting image according to the motion quantity of the capsule endoscope, and taking the adjusted shooting parameters as the shooting parameters of the current shooting image.
According to the image shooting parameter adjusting device, the quantity of motion of the capsule endoscope relative to the quantity of motion of the capsule endoscope when the image is shot at the previous time before the image is shot at the current time is obtained, the shooting parameter of the image shot at the previous time is adjusted according to the quantity of motion of the capsule endoscope, the adjusted shooting parameter is used as the shooting parameter of the image shot at the current time, and further the current shooting can be carried out according to the adjusted shooting parameter. The image shooting parameter adjusting device avoids a plurality of ineffective shooting caused by shooting the image at the current time according to the shooting parameters of the image shot at the previous time, can reduce the ineffective shooting, can save power consumption and improve shooting efficiency.
The embodiment also provides a capsule endoscope, which comprises a capsule body, wherein an image sensing device and an image shooting parameter adjusting device are arranged in the capsule body, the image sensing device is used for generating an image based on acquired light, the image shooting parameter adjusting device is connected with the image sensing device and is used for adjusting shooting parameters of the image sensing device by applying the image shooting parameter adjusting method, or the image shooting parameter adjusting device is the image shooting parameter adjusting device.
Referring to fig. 3, fig. 3 is a schematic diagram of a capsule endoscope according to the present embodiment, and as shown in the drawing, the capsule endoscope includes an illumination device 21, an image sensing device 22, and an image capturing parameter adjusting device, where the illumination device 21 is used to emit illumination light. The image capturing parameter adjusting device includes an acceleration sensor 23, an angular velocity sensor 24, and a controller 25, and the controller 25 is configured to adjust a capturing parameter in accordance with the amount of movement of the capsule endoscope.
The capsule endoscope of the embodiment avoids a plurality of ineffective shooting caused by directly shooting images at the current time according to shooting parameters of the images shot at the previous time, can reduce ineffective shooting, can save power consumption and improve shooting efficiency.
The image shooting parameter adjusting method and device and the capsule endoscope provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (8)
1. An image shooting parameter adjusting method is applied to a capsule endoscope and is characterized by comprising the following steps of:
Acquiring the motion quantity of the capsule endoscope relative to the previous shot image before the current shot image, namely acquiring the motion quantity of the capsule endoscope relative to the previous shot image in the interval time between the current shot image and the previous shot image;
According to the motion quantity of the capsule endoscope, adjusting shooting parameters of a previous shooting image, and taking the adjusted shooting parameters as shooting parameters of the current shooting image;
The movement amount of the capsule endoscope includes a movement distance of the capsule endoscope with respect to a previous captured image, and the adjusting of the imaging parameter of the previous captured image according to the movement amount of the capsule endoscope includes: if the movement amount of the capsule endoscope reflects that the capsule endoscope is far away from an object and the movement distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1+t; if the motion amount of the capsule endoscope reflects that the capsule endoscope is close to an object and the moving distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1-t, where t1 represents the exposure time of the previous shot image, t represents the correction exposure time, and t=k×l, k represents the correction coefficient.
2. The image capturing parameter adjustment method according to claim 1, wherein the movement amount of the capsule endoscope further includes a movement orientation of the capsule endoscope with respect to a previous captured image.
3. The image capturing parameter adjustment method according to claim 1, wherein acquiring the amount of motion of the capsule endoscope before the image is captured the previous time with respect to the image captured the previous time includes: and acquiring the acceleration of the capsule endoscope between the previous shot image and the previous shot image, and acquiring the moving distance of the capsule endoscope relative to the previous shot image according to the acquired acceleration.
4. The image capturing parameter adjustment method according to claim 1, wherein acquiring the amount of motion of the capsule endoscope before the image is captured the previous time with respect to the image captured the previous time includes: and acquiring the angular velocity of the capsule endoscope from the previous shot image to the previous shot image, and acquiring the moving azimuth of the capsule endoscope relative to the previous shot image according to the acquired angular velocity.
5. The image capturing parameter adjustment method according to claim 1, characterized in that adjusting the capturing parameter of the previous captured image in accordance with the movement amount of the capsule endoscope further comprises:
if the motion quantity of the capsule endoscope reflects that the capsule endoscope is far away from a shot object relative to the shot image of the previous time, adjusting shooting parameters of the shot image of the previous time so that the brightness of an image obtained after the shot image of the current time is carried out according to the adjusted shooting parameters is not reduced;
If the motion quantity of the capsule endoscope reflects that the capsule endoscope approaches a shot object relative to the shot image of the previous time, the shooting parameters of the shot image of the previous time are adjusted, so that the brightness of the image obtained after the shot image of the current time is carried out according to the adjusted shooting parameters is not increased.
6. The image capturing parameter adjustment method according to any one of claims 1 to 5, characterized by further comprising: and carrying out the current shot image according to the adjusted shooting parameters, and adjusting the shooting parameters of the current shot image if the brightness of the shot image does not meet the requirement.
7. An image capturing parameter adjusting device applied to a capsule endoscope, comprising:
an acquisition module, configured to acquire a motion amount of the capsule endoscope relative to a previous shot image before the previous shot image, that is, an amount of motion of the capsule endoscope relative to the previous shot image during an interval between the previous shot image and the previous shot image;
the adjusting module is used for adjusting shooting parameters of the previous shooting image according to the motion quantity of the capsule endoscope, and taking the adjusted shooting parameters as shooting parameters of the current shooting image;
The movement amount of the capsule endoscope includes a movement distance of the capsule endoscope with respect to a previous captured image, and the adjusting of the imaging parameter of the previous captured image according to the movement amount of the capsule endoscope includes: if the movement amount of the capsule endoscope reflects that the capsule endoscope is far away from an object and the movement distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1+t; if the motion amount of the capsule endoscope reflects that the capsule endoscope is close to an object and the moving distance is L with respect to the previous shot image, the exposure time of the previous shot image is t2=t1-t, where t1 represents the exposure time of the previous shot image, t represents the correction exposure time, and t=k×l, k represents the correction coefficient.
8. A capsule endoscope, comprising a capsule body, wherein an image sensing device and an image shooting parameter adjusting device are arranged in the capsule body, the image sensing device is used for generating an image based on acquired light, the image shooting parameter adjusting device is connected with the image sensing device and is used for adjusting shooting parameters of the image sensing device by applying the image shooting parameter adjusting method according to any one of claims 1-6, or the image shooting parameter adjusting device is the image shooting parameter adjusting device according to claim 7.
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