CN105939451B - Image exposure processing system and method for capsule endoscope system - Google Patents
Image exposure processing system and method for capsule endoscope system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00096—Optical elements
-
- 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
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00181—Optical arrangements characterised by the viewing angles for multiple fixed viewing angles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/663—Remote control of cameras or camera parts, e.g. by remote control devices for controlling interchangeable camera parts based on electronic image sensor signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
Abstract
The invention discloses a kind of image exposure processing systems for capsule endoscope system, survey the signal input part incoming image of optical module, survey the signal input part of the signal output end connection exposure judgment module of optical module, expose the signal input part of the signal output end connection brightness judgment module of judgment module, first signal input part of the signal output end connection gear computing module of brightness judgment module, the signal input part of the signal output end Connecting quantity adjustment module of gear computing module, the image sensor signal acquisition gain amplifier of parameter adjustment module is with image exposuring time value output end for being conveyed to lighting device and photographic device, the second signal input terminal of image sensor signal acquisition gain amplifier and image exposuring time gear value output end connection gear computing module after the adjustment of parameter adjustment module.The present invention automatically processes the excessively bright or excessively dark image occurred in shooting process, keeps checking process more efficient.
Description
Technical field
The present invention relates to capsule type endoscope technical field of image processing, and capsule endoscope system is used in particular to one kind
Image exposure processing system and method.
Background technology
The advantages that capsule-type endoscope system is due to its high security, high reliability, is widely used to patient's at present
In digestive tract examining.Image shows that, as the important link in endoscopy, the readability of image has become urgent need and changes
Into direction, at present capsule endoscope due to be suitable for this narrow cavity of small intestine inspection, without the concern for image
The problems such as overexposure.But for the larger digestive organ of this cavity of stomach, when controlling capsule movement, there is capsule positions
The case where uncertainty set, the distance away from stomach wall changes there is distance, therefore captured by capsule-type endoscope system
Image, which often had the problems such as bright, excessively dark or brightness unevenness, to be led to not clearly obtain internal image.Simultaneously as capsule
The low frame per second and real-time Transmission characteristic of endoscopic images can not utilize the exposure parameter inside imaging sensor to automatically adjust, no
Then will appear and adjust number and excessively cause adjustment process long, or can bright dark the case where adjusting repeatedly, it is many invalid to generate
Image.Such consequence is exactly to reduce the reliability of inspection the problems such as will appear missing inspection, or even can not complete to check, simultaneously
Burden is also increased to doctor and checks difficulty.
In view of the above technical problems, the patent of invention of Patent No. 201280041426.0《Automatic exposure control device, control
Device, endoscope apparatus and automatic exposure control method processed》, auto-exposure control portion is obtained by field angle information acquiring section
Wide angle shot information and the automatic exposure evaluation of estimate that calculates of image pixel value carry out gradation conversion, to solve to be more than 180 °
The excessively dark problem of outside image caused by the object lens of angle of visibility.But there is auto-exposure control involved by above-mentioned patent
It is excessively bright or excessively dark that the exposure-processed scheme of device can not really handle the shooting image caused by the polishers such as LED
Saturation image, according only to the visual field angle information of imaging optical system come determine boundary image light filling handle, processing scheme tool
There is limitation, is not suitable for the processing of tradition object lens shot image.
Invention content
The present invention provides a kind of image exposure processing system for capsule endoscope system aiming at above-mentioned technical problem
System and method, it is real to shooting the brightness of image when which can make capsule endoscope carry out controlled shooting in alimentary canal
When control, automatically process the excessively bright or excessively dark image occurred in shooting process, keep checking process more efficient.
To achieve the above object, a kind of image exposure processing system for capsule endoscope system designed by the present invention
System, it includes surveying optical module, exposure judgment module, brightness judgment module, gear computing module and parameter adjustment module, the survey
The signal input part of optical module is used for incoming image, surveys the signal input of the signal output end connection exposure judgment module of optical module
End, exposes the signal input part of the signal output end connection brightness judgment module of judgment module, and the signal of brightness judgment module is defeated
Outlet connects the first signal input part of gear computing module, and the signal output end Connecting quantity of gear computing module adjusts module
Signal input part, image sensor signal acquisition gain amplifier and the image exposuring time value output end of parameter adjustment module are used
In being conveyed to lighting device and photographic device, image sensor signal acquires gain amplifier and figure after the adjustment of parameter adjustment module
As time for exposure gear value output end connects the second signal input terminal of gear computing module.
A kind of image exposure processing method using above system, which is characterized in that it includes the following steps：
Step 1：The signal input part for surveying optical module receives the present image of input, and calculates the brightness evaluation of present image
Parameter, the brightness evaluation parameter include image saturation value Z and image non-saturated pixel mean value Y；
Step 2：It surveys optical module and image saturation value Z and image non-saturated pixel mean value Y is transferred to exposure judgment module, expose
Light judgment module is transferred to brightness judgment module by the image non-saturated pixel mean value Y that optical module transmission comes is surveyed, and exposure judges mould
Block judges whether present image brightness is excessively bright or excessively dark using image saturation value Z, and specific judgment method is：If image is saturated
The absolute value of value Z | Z | when being more than saturation value predetermined threshold value T1, then present image is excessively bright or excessively dark, i.e. exposure is abnormal；Otherwise,
Exposure is normal；The result that current image exposure judges is transferred to gear by brightness judgment module and calculates mould by exposure judgment module
Block；
Step 3：Brightness judgment module be used for according to image non-saturated pixel mean value Y judge present image brightness whether
In brightness predetermined threshold value T2, specific judgment formula is：
|Y-Ym| ＜ T2 (3)
Wherein, YmFor human eye observed image when comfortable brightness, YmFor manually determining empirical parameter；When image unsaturation
When pixel mean value Y meets formula (3), brightness of image is normal, and otherwise brightness of image is abnormal；When Y is more than YmWhen+T2, image be compared with
Bright image；When Y is less than YmWhen-T2, image is dark image；
The result that present image brightness judges is transferred to gear computing module by brightness judgment module；
Step 4：It is that the result and present image brightness that gear computing module judges according to current image exposure judge as a result,
Image sensor signal acquires gain amplifier and image exposuring time gear value D after calculating adjustmentn；
If present image is initial pictures, it is specifically divided into following four kinds of processing：
Situation one adjusts exposure normal picture if brightness judgment module judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(D0*Ym/Y)*a0/100
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, the initial graph
As collecting sensor signal gain amplifier and image exposuring time gear value are preset empirical parameter, a0For initial pictures gear
Regulation coefficient, the initial pictures gear regulation coefficient are preset value, YmFor human eye observed image when comfortable brightness；
Situation two：For exposing normal picture, if brightness judgment module judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=D0*Ym/Y
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, the initial graph
As collecting sensor signal gain amplifier and image exposuring time gear value are preset empirical parameter；
Situation three：Exposure abnormal image is adjusted if brightness judgment module judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(D0*Ym/Ya)*a0/100
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, the initial graph
As collecting sensor signal gain amplifier and image exposuring time gear value are preset empirical parameter, a0For initial pictures gear
Regulation coefficient, the initial pictures gear regulation coefficient are preset value, YaFor the pixel grey scale mean value of present image；
Situation four：Exposure abnormal image is adjusted if brightness judgment module judges that present image belongs to brighter image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=D0*Ym/Ya
If present image is non-initial image, it is specifically divided into following four kinds of processing：
Situation one adjusts exposure normal picture if brightness judgment module judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(Dc*Ym/Y)*a/100
Wherein, DcGain amplifier and image exposuring time are acquired for the image sensor signal of piece image before present image
Gear value, a are image gear regulation coefficient, YmFor human eye observed image when comfortable brightness, Y be present image non-saturated pixel
Mean value；
Situation two：For exposing normal picture, if brightness judgment module judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=Dc*Ym/Y
Situation three：Exposure abnormal image is adjusted if brightness judgment module judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(Dc*Ym/Ya)*a/100
Situation four：Exposure abnormal image is adjusted if brightness judgment module judges that present image belongs to brighter image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=Dc*Ym/Ya
Above-mentioned image gear regulation coefficient a is calculated by following formula：
Wherein, Y1For the non-saturated pixel mean value of piece image before present image, DcFor the figure of piece image before present image
As collecting sensor signal gain amplifier and image exposuring time gear value, Y is the non-saturated pixel mean value of present image, and D2 is
The image sensor signal acquisition gain amplifier and image exposuring time gear value of present image
Step 5：Image sensor signal acquisition is amplified after the adjustment that parameter adjustment module is obtained according to gear computing module
Gain and image exposuring time gear value, when acquiring gain amplifier and image exposure by inquiring the image sensor signal to prestore
Between gear table, find image sensor signal acquisition gain amplifier and image exposuring time gear table in image sensing after adjustment
Device signal acquisition gain amplifier and the close A gear number of image exposuring time gear value, then select above-mentioned A gear volume
Image sensor signal acquisition gain amplifier value is minimum in number numbers as new gear, which numbers corresponding image and pass
Sensor signal acquires gain amplifier value and is conveyed to lighting device and photographic device with image exposuring time value, carries out the brightness of image
Adjustment；In addition, image sensor signal acquisition gain amplifier and image exposuring time gear value return to gear calculating after adjustment
The exposure-processed that module carries out subsequent image uses.
Beneficial effects of the present invention are：
1, the present invention can handle the exposure image in capsule shooting process in real time；
2, the present invention can be directed to entire alimentary system image do in real time adjustment (i.e. every image be both needed to it is real-time with it is previous
It opens image and does exposure-processed adjustment)；
3, the present invention can at any time manual adjustment with calibrate image brightness (each predetermined threshold value i.e. in system can be artificial
Modification setting)；
4, the present invention can be done for different application scenarios image light filling (such as the different position of alimentary canal, as stomach,
The environment difference such as small intestine does real-time image procossing, and light filling does delustring processing just for dark scene, brighter scene), from
And it is optimal image effect；
5, the present invention is acquired using image sensor signal and is amplified in the case where not changing existing capsule endoscope structure
Gain and image exposuring time are as the factor for adjusting image light and shade, to improve image taking effect；
6, the brightness for shooting image is controlled in real time when the present invention can make capsule endoscope carry out controlled shooting in alimentary canal
System, automatically processes the excessively bright or excessively dark image occurred in shooting process, keeps checking process more efficient.
Description of the drawings
Fig. 1 is the structural schematic diagram of present system part；
Fig. 2 is capsule image schematic diagram.
In figure：1-surveys optical module, 2-exposure judgment modules, 3-brightness judgment modules, 4-gear computing modules, 5-
Parameter adjustment module.
Specific implementation mode
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of image exposure processing system for capsule endoscope system that the present invention designs, as shown in Figure 1, it includes
Survey optical module 1, exposure judgment module 2, brightness judgment module 3, gear computing module 4 and parameter adjustment module 5, the survey optical mode
The signal input part of block 1 is used for incoming image (image that capsule endoscope is shot in alimentary canal), and the signal for surveying optical module 1 is defeated
The signal input part of outlet connection exposure judgment module 2, the signal output end connection brightness judgment module 3 of exposure judgment module 2
Signal input part, the first signal input part of the signal output end connection gear computing module 4 of brightness judgment module 3, gear
The signal input part of the signal output end Connecting quantity adjustment module 5 of computing module 4, the imaging sensor of parameter adjustment module 5
Signal acquisition gain amplifier is with image exposuring time value output end for being conveyed to lighting device and photographic device, parameter adjustment mould
Image sensor signal acquisition gain amplifier and the output of image exposuring time (i.e. LED polishings time) gear value after the adjustment of block 5
The second signal input terminal of end connection gear computing module 4.
In above-mentioned technical proposal, the brightness evaluation parameter surveyed optical module 1 and be used to calculate present image；
It is described exposure judgment module 2 be used for using present image brightness evaluation parameter judge present image brightness whether mistake
It is bright or excessively dark；
Whether the brightness judgment module 3 is used to judge the brightness of present image in preset threshold range；
The gear computing module 4 is used for the brightness according to present image, and image sensor signal acquires after calculating adjustment
Gain amplifier and image exposuring time gear value；
Image sensor signal acquisition amplification after the adjustment that parameter adjustment module 5 is used to be obtained according to gear computing module 4
Gain and image exposuring time gear value, when acquiring gain amplifier and image exposure by inquiring the image sensor signal to prestore
Between gear table, find image sensor signal acquisition gain amplifier and image exposuring time gear table in image sensing after adjustment
Device signal acquisition gain amplifier and image exposuring time gear value close A (preferably 5) gears number, then in selection
It states image sensor signal in A gear number and acquires being numbered as new gear for gain amplifier value minimum, gear number
Corresponding image sensor signal acquisition gain amplifier value is conveyed to lighting device and photographic device with image exposuring time value, adjusts
Image sensor signal acquisition gain amplifier and image exposuring time gear value return to gear computing module 4 and carry out subsequently after whole
The exposure-processed of image uses.
In above-mentioned technical proposal, the brightness evaluation parameter includes image saturation value Z and image non-saturated pixel mean value Y.
A kind of image exposure processing method using above system, it includes the following steps：
Step 1：The signal input part for surveying optical module 1 receives the present image of input, and the brightness for calculating present image is commented
Valence parameter, the brightness evaluation parameter include image saturation value Z and image non-saturated pixel mean value Y；
Step 2：It surveys optical module 1 and image saturation value Z and image non-saturated pixel mean value Y is transferred to exposure judgment module 2,
Exposure judgment module 2 is transferred to brightness judgment module 3 by the image non-saturated pixel mean value Y that the transmission of optical module 1 comes is surveyed, and exposure is sentenced
Disconnected module 2 judges whether present image brightness is excessively bright or excessively dark using image saturation value Z, and specific judgment method is：If figure
As the absolute value of saturation value Z | Z | be more than saturation value predetermined threshold value T1 (preferably T1=30000) when, then present image it is excessively bright or
It crosses secretly, i.e. exposure is abnormal；Otherwise, exposure is normal；Exposure judgment module 2 sentences the result that current image exposure judges by brightness
Disconnected module 3 is transferred to gear computing module 4；
Step 3：Brightness judgment module 3 be used for according to image non-saturated pixel mean value Y judge present image brightness whether
In brightness predetermined threshold value T2 (preferably T2=32), specific judgment formula is：
|Y-Ym| ＜ T2 (3)
Wherein, YmFor human eye observed image when comfortable brightness (preferably Ym=134), YmFor manually determining empirical parameter；
When image non-saturated pixel mean value Y meets formula (3), brightness of image is normal, and otherwise brightness of image is abnormal；When Y is more than Ym+T2
When, image is brighter image；When Y is less than YmWhen-T2, image is dark image；
The result that present image brightness judges is transferred to gear computing module 4 by brightness judgment module 3；
Step 4：The knot that the result and present image brightness that gear computing module 4 judges according to current image exposure judge
Fruit calculates image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentn；
If present image is initial pictures, it is specifically divided into following four kinds of processing：
Situation one, for expose normal picture, if brightness judgment module 3 judges that present image belongs to dark image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=(D0*Ym/Y)*a0/100
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, the initial graph
As collecting sensor signal gain amplifier and image exposuring time gear value are preset empirical parameter, a0For initial pictures gear
Regulation coefficient, the initial pictures gear regulation coefficient are preset value, YmFor human eye observed image when comfortable brightness；
Situation two：For exposing normal picture, if brightness judgment module 3 judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after then adjustingnFor：
Dn=D0*Ym/Y
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, the initial graph
As collecting sensor signal gain amplifier and image exposuring time gear value are preset empirical parameter；
Situation three：For exposing abnormal image, if brightness judgment module 3 judges that present image belongs to dark image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=(D0*Ym/Ya)*a0/100
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, the initial graph
As collecting sensor signal gain amplifier and image exposuring time gear value are preset empirical parameter, a0For initial pictures gear
Regulation coefficient, the initial pictures gear regulation coefficient are preset value (initial pictures gear regulation coefficient a0Preferably 100), YaFor
The pixel grey scale mean value of present image；
Situation four：For exposing abnormal image, if brightness judgment module 3 judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=D0*Ym/Ya
If present image is non-initial image, it is specifically divided into following four kinds of processing：
Situation one, for expose normal picture, if brightness judgment module 3 judges that present image belongs to dark image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=(Dc*Ym/Y)*a/100
Wherein, DcImage for piece image before present image (sortord of image is to sort according to time sequencing) passes
Sensor signal acquires gain amplifier and image exposuring time gear value, and a is image gear regulation coefficient, YmFor human eye observed image
When comfortable brightness, Y be present image non-saturated pixel mean value；
Situation two：For exposing normal picture, if brightness judgment module 3 judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after then adjustingnFor：
Dn=Dc*Ym/Y
Situation three：For exposing abnormal image, if brightness judgment module 3 judges that present image belongs to dark image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=(Dc*Ym/Ya)*a/100
Situation four：For exposing abnormal image, if brightness judgment module 3 judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=Dc*Ym/Ya
Above-mentioned image gear regulation coefficient a is calculated by following formula：
Wherein, Y1For the non-saturated pixel mean value of piece image before present image, DcFor the figure of piece image before present image
As collecting sensor signal gain amplifier and image exposuring time gear value, Y is the non-saturated pixel mean value of present image, and D2 is
The image sensor signal acquisition gain amplifier and image exposuring time gear value of present image
Step 5：Image sensor signal acquisition is put after the adjustment that parameter adjustment module 5 is obtained according to gear computing module 4
Large gain and image exposuring time gear value acquire gain amplifier and image exposure by inquiring the image sensor signal to prestore
Time gear table finds in image sensor signal acquisition gain amplifier and image exposuring time gear table and is passed with image after adjustment
Sensor signal acquires gain amplifier and the close A gear of image exposuring time gear value is numbered, and then selects above-mentioned A gear
Image sensor signal acquisition gain amplifier value is minimum in number numbers as new gear, which numbers corresponding image
Collecting sensor signal gain amplifier value is conveyed to lighting device and photographic device with image exposuring time value, carries out the bright of image
Degree adjustment (for example image is excessively dark, then will increase the time for exposure, carries out light filling processing, and if excessively bright, delustring processing)；Separately
Outside, after adjustment image sensor signal acquisition gain amplifier and image exposuring time gear value return to gear computing module 4 into
The exposure-processed of row subsequent image uses.
In above-mentioned technical proposal, each gear value of gear table corresponds to an image sensor signal and acquires gain amplifier
And image exposuring time, the image sensor signal acquisition gain amplifier and image exposuring time gear table to prestore is mould in vitro
What quasi- digestive tract environment obtained.
Image saturation value Z and image in the step 1 of above-mentioned technical proposal in the brightness evaluation parameter of present image is non-full
Circular with pixel mean value Y is：
Image saturation value Z is to measure that image is excessively bright or the parameter of excessively dark degree, calculation formula are：
Z=-ZL+w×ZH
Wherein, ZLFor the number of pixel of the gray scale in [0,14] range, ZHFor picture of the gray scale in [241,255] range
The number of element, w are that image is saturated regulation coefficient, which is manually determining empirical parameter, preferably 1.2；
Image non-saturated pixel mean value Y is the mean value of all pixels in pixel value [15,240] range, and calculation formula is：
Wherein, N is the number of all pixels of the gray scale in [15,240] range, and I (n) is gray scale in [15,240] range
The gray scale of interior pixel.
In above-mentioned technical proposal, described image is the corresponding maximum inscribed square region of border circular areas among endoscopic images
Domain, as shown in Figure 2.In this way using central metering mode, it is avoided that inactive area influences.
The present invention for same type (imaging sensor photoperceptivity, LED luminous intensities are identical with spectrum) capsule,
Environment in vitro digestion road acquires the image under different parameters, finds different parameters and the correspondence of brightness of image, build
Vertical brightness regulation gear table.When it is excessively bright or excessively dark to judge the brightness of current captured image, by the ash for judging image
It is final to obtain image by searching for gear table for the relationship of the threshold value of angle value and actual set, the new gear value that image is calculated
Yield value and flash time value, to re-shoot the clear image with high shooting condition；The image captured by the judgement is bright
When degree is in normal range (NR), then judge that gray value of image whether in set threshold range, if in threshold range, is recognized
Image belongs to normal clearly image thus, need not carry out brightness adjustment, continue the processing of next image；If no
In threshold range, then judging that gray value is excessively high or too low at this time, new gear value at this time is obtained by calculation, by looking into
Gear table is looked for, the final yield value of image and flash time value are obtained, to re-shoot the clear figure with high shooting condition
Picture；When image data generates video file and reviews, multiple neighbouring images are read on backstage in advance, execute luminance proportion
Process so that bright dark alternating changes apparent brightness of image and keeps almost the same.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of image exposure processing system for capsule endoscope system, it is characterised in that：It include survey optical module (1),
Expose judgment module (2), brightness judgment module (3), gear computing module (4) and parameter adjustment module (5), the survey optical module
(1) signal input part is used for incoming image, surveys the signal of the signal output end connection exposure judgment module (2) of optical module (1)
Input terminal, the signal input part of the signal output end connection brightness judgment module (3) of exposure judgment module (2), brightness judge mould
First signal input part of the signal output end connection gear computing module (4) of block (3), the signal of gear computing module (4) are defeated
Outlet Connecting quantity adjusts the signal input part of module (5), and the image sensor signal acquisition amplification of parameter adjustment module (5) increases
Benefit is used to be conveyed to lighting device and photographic device with image exposuring time value output end, after the adjustment of parameter adjustment module (5)
Image sensor signal acquires the second of gain amplifier and image exposuring time gear value output end connection gear computing module (4)
Signal input part.
2. the image exposure processing system according to claim 1 for capsule endoscope system, it is characterised in that：It is described
Survey the brightness evaluation parameter that optical module (1) is used to calculate present image；
The exposure judgment module (2) is used to judge whether present image brightness is excessively bright using the brightness evaluation parameter of present image
Or it is excessively dark；
Whether the brightness judgment module (3) is used to judge the brightness of present image in preset threshold range；
The gear computing module (4) is used for the brightness according to present image, calculates image sensor signal acquisition after adjusting and puts
Large gain and image exposuring time gear value；
Image sensor signal acquisition amplification after the adjustment that parameter adjustment module (5) is used to be obtained according to gear computing module (4)
Gain and image exposuring time gear value, when acquiring gain amplifier and image exposure by inquiring the image sensor signal to prestore
Between gear table, find image sensor signal acquisition gain amplifier and image exposuring time gear table in image sensing after adjustment
Device signal acquisition gain amplifier and the close A gear number of image exposuring time gear value, then select above-mentioned A gear volume
Image sensor signal acquisition gain amplifier value is minimum in number numbers as new gear, which numbers corresponding image and pass
Sensor signal acquires gain amplifier value and is conveyed to lighting device and photographic device, image sensing after adjustment with image exposuring time value
Device signal acquisition gain amplifier and image exposuring time gear value return to the exposure that gear computing module (4) carries out subsequent image
Processing uses.
3. the image exposure processing system according to claim 2 for capsule endoscope system, it is characterised in that：It is described
A gear number is 5 gear numbers.
4. the image exposure processing system according to claim 2 for capsule endoscope system, it is characterised in that：It is described
Brightness evaluation parameter includes image saturation value Z and image non-saturated pixel mean value Y.
5. a kind of image exposure processing method using system described in claim 1, which is characterized in that it includes the following steps：
Step 1：The signal input part for surveying optical module (1) receives the present image of input, and calculates the brightness evaluation of present image
Parameter, the brightness evaluation parameter include image saturation value Z and image non-saturated pixel mean value Y；
Step 2：It surveys optical module (1) and image saturation value Z and image non-saturated pixel mean value Y is transferred to exposure judgment module (2),
Exposure judgment module (2) will survey the image non-saturated pixel mean value Y that optical module (1) transmission comes and be transferred to brightness judgment module (3),
Exposure judgment module (2) judges whether present image brightness is excessively bright or excessively dark using image saturation value Z, specific judgment method
For：If the absolute value of image saturation value Z | Z | when being more than saturation value predetermined threshold value T1, present image is excessively bright or excessively dark, i.e.,
Exposure is abnormal；Otherwise, exposure is normal；The result that current image exposure judges is judged mould by exposure judgment module (2) by brightness
Block (3) is transferred to gear computing module (4)；
Step 3：Brightness judgment module (3) be used for according to image non-saturated pixel mean value Y judge present image brightness whether
In brightness predetermined threshold value T2, specific judgment formula is：
|Y-Ym| ＜ T2 (3)
Wherein, YmFor human eye observed image when comfortable brightness, YmFor manually determining empirical parameter；When image non-saturated pixel
When mean value Y meets formula (3), brightness of image is normal, and otherwise brightness of image is abnormal；When Y is more than YmWhen+T2, image is brighter figure
Picture；When Y is less than YmWhen-T2, image is dark image；
The result that present image brightness judges is transferred to gear computing module (4) by brightness judgment module (3)；
Step 4：It is that the result and present image brightness that gear computing module (4) judges according to current image exposure judge as a result,
Image sensor signal acquires gain amplifier and image exposuring time gear value D after calculating adjustmentn；
If present image is initial pictures, it is specifically divided into following four kinds of processing：
Situation one adjusts exposure normal picture if brightness judgment module (3) judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(D0*Ym/Y)*a0/100
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, initial pictures sensing
Device signal acquisition gain amplifier and image exposuring time gear value are preset empirical parameter, a0It is adjusted for initial pictures gear and is
Number, the initial pictures gear regulation coefficient are preset value, YmFor human eye observed image when comfortable brightness；
Situation two：For exposing normal picture, if brightness judgment module (3) judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=D0*Ym/Y
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, initial pictures sensing
Device signal acquisition gain amplifier and image exposuring time gear value are preset empirical parameter；
Situation three：Exposure abnormal image is adjusted if brightness judgment module (3) judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(D0*Ym/Ya)*a0/100
Wherein, D0For initial pictures collecting sensor signal gain amplifier and image exposuring time gear value, initial pictures sensing
Device signal acquisition gain amplifier and image exposuring time gear value are preset empirical parameter, a0It is adjusted for initial pictures gear and is
Number, the initial pictures gear regulation coefficient are preset value, YaFor the pixel grey scale mean value of present image；
Situation four：Exposure abnormal image is adjusted if brightness judgment module (3) judges that present image belongs to brighter image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=D0*Ym/Ya
If present image is non-initial image, it is specifically divided into following four kinds of processing：
Situation one adjusts exposure normal picture if brightness judgment module (3) judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(Dc*Ym/Y)*a/100
Wherein, DcGain amplifier and image exposuring time gear are acquired for the image sensor signal of piece image before present image
Value, a are image gear regulation coefficient, YmFor human eye observed image when comfortable brightness, Y be present image non-saturated pixel it is equal
Value；
Situation two：For exposing normal picture, if brightness judgment module (3) judges that present image belongs to brighter image,
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after adjustmentnFor：
Dn=Dc*Ym/Y
Situation three：Exposure abnormal image is adjusted if brightness judgment module (3) judges that present image belongs to dark image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=(Dc*Ym/Ya)*a/100
Situation four：Exposure abnormal image is adjusted if brightness judgment module (3) judges that present image belongs to brighter image
Image sensor signal acquisition gain amplifier and image exposuring time gear value D after wholenFor：
Dn=Dc*Ym/Ya
Above-mentioned image gear regulation coefficient a is calculated by following formula：
Wherein, Y1For the non-saturated pixel mean value of piece image before present image, DcIt is passed for the image of piece image before present image
Sensor signal acquires gain amplifier and image exposuring time gear value, and Y is the non-saturated pixel mean value of present image, and D2 is current
The image sensor signal acquisition gain amplifier and image exposuring time gear value of image
Step 5：Image sensor signal acquisition is put after the adjustment that parameter adjustment module (5) is obtained according to gear computing module (4)
Large gain and image exposuring time gear value acquire gain amplifier and image exposure by inquiring the image sensor signal to prestore
Time gear table finds in image sensor signal acquisition gain amplifier and image exposuring time gear table and is passed with image after adjustment
Sensor signal acquires gain amplifier and the close A gear of image exposuring time gear value is numbered, and then selects above-mentioned A gear
Image sensor signal acquisition gain amplifier value is minimum in number numbers as new gear, which numbers corresponding image
Collecting sensor signal gain amplifier value is conveyed to lighting device and photographic device with image exposuring time value, carries out the bright of image
Degree adjustment；In addition, image sensor signal acquisition gain amplifier and image exposuring time gear value return to gear meter after adjustment
Calculate the exposure-processed use that module (4) carries out subsequent image.
6. image exposure processing method according to claim 5, it is characterised in that：Present image is bright in the step 1
Image saturation value Z and the circular of image non-saturated pixel mean value Y in degree evaluation parameter are：
Image saturation value Z is to measure that image is excessively bright or the parameter of excessively dark degree, calculation formula are：
Z=-ZL+w×ZH
Wherein, ZLFor the number of pixel of the gray scale in [0,14] range, ZHFor pixel of the gray scale in [241,255] range
Number, w are that image is saturated regulation coefficient；
Image non-saturated pixel mean value Y is the mean value of all pixels in pixel value [15,240] range, and calculation formula is：
Wherein, N is the number of all pixels of the gray scale in [15,240] range, and I (n) is gray scale in [15,240] range
The gray scale of pixel.
7. image exposure processing method according to claim 5, it is characterised in that：The A gear number is 5 gears
Number.
8. image exposure processing method according to claim 5, it is characterised in that：The sortord of described image is foundation
Time sequencing sorts.
9. image exposure processing method according to claim 5, it is characterised in that：Initial pictures gear regulation coefficient a0For
100。
10. image exposure processing method according to claim 5, it is characterised in that：Described image is in endoscopic images
Between the corresponding maximum inscribed square area of border circular areas.
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| GB201901470D0 (en) | 2019-02-04 | 2019-03-27 | Vibrant Ltd | Vibrating capsule for gastrointestinal treatment, and method of use thereof |
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| CN110477844A (en) * | 2019-08-22 | 2019-11-22 | 重庆金山医疗技术研究院有限公司 | A kind of method, system and capsule endoscopic preventing acquisition picture overexposure |
| CN111948798B (en) * | 2020-08-21 | 2022-04-01 | 上海微创医疗机器人（集团）股份有限公司 | Endoscope system and method for detecting contact of tip of endoscope with tissue |
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| US11730352B2 (en) * | 2021-01-13 | 2023-08-22 | Hong Kong Applied Science and Technology Research Institute Company Limited | Auto-exposure method for wireless capsule endoscope |
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