CN115727757A - Endoscope operation method for measuring size of target based on telescopic lens - Google Patents
Endoscope operation method for measuring size of target based on telescopic lens Download PDFInfo
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- CN115727757A CN115727757A CN202211042394.8A CN202211042394A CN115727757A CN 115727757 A CN115727757 A CN 115727757A CN 202211042394 A CN202211042394 A CN 202211042394A CN 115727757 A CN115727757 A CN 115727757A
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Abstract
The invention relates to an endoscope operation method for measuring the size of a target based on a telescopic lens, which comprises the steps that after a user finds the target to be measured in the process of endoscopy, the endoscope lens is stretched back and forth by a fixed distance and the target is shot respectively to obtain two target images with different shooting distances, the two collected target images with different shooting distances are subjected to target identification, the results obtained by the target identification of the two images are matched, if the matching is successful, the identification targets of the two images with different shooting distances are the same target, if the matching is unsuccessful, the angle and the position of the endoscope are required to be adjusted, the target is subjected to image collection again, and finally the actual size of the target is calculated by utilizing the known parameters. Compared with the prior art, the method combines the machine vision technology, has a simple structure and is convenient to operate, and the machine can quickly and efficiently calculate the actual size of the target only by sequentially executing the steps.
Description
Technical Field
The invention relates to the field of endoscope instruments, in particular to the field of endoscope equipment and the field of machine vision, and particularly relates to an endoscope operation method for measuring the size of a target based on a telescopic lens.
Background
The endoscope is a detection instrument integrating precision machinery, modern electronics, mathematics and software, can realize nondestructive detection without disassembling or damaging the device and stopping the operation of the equipment, and achieves the aim of directly peeping at the change of a target.
The conventional endoscope apparatus can observe an observation target in a use process, but cannot rapidly measure the observation target in the observation process, and can only judge the size thereof by the user by experience. In recent years, a batch of endoscope devices capable of measuring the size of a target are continuously emerged in the market, but the size of the target is measured by basically adopting mechanical structures such as a graduated scale and the like, so that the volume of the endoscope devices is too large; methods for detecting and measuring three-dimensional objects by using a monocular camera are also proposed, but most of the methods need additional structures for auxiliary measurement, and many small-sized endoscope probes cannot be loaded with too many devices at the same time. Therefore, a method for measuring the size of a target by matching with an endoscope is urgently needed.
Disclosure of Invention
The object of the present invention is to propose a method of operating an endoscope equipped with a retractable lens, which allows measuring the size of an object directly inside the device.
The invention idea of the technical scheme is as follows: after finding a target to be measured in the process of endoscopy, a user stretches the lens of the endoscope back and forth by a fixed distance and shoots the target respectively to obtain two target images with different shooting distances, and further, the actual size of the target is calculated by using known parameters.
For the above thought, the patent application adopts the following technical scheme to realize: the invention relates to an endoscope operation method for measuring the size of a target based on a telescopic lens, which is mainly characterized by comprising the following steps:
s1, after a target needing to be measured is found, firstly, the orientation of a lens of an endoscope is adjusted, so that the lens is over against the target, and then, the position of the endoscope is adjusted, so that the target is completely presented in an image;
s2, the lens of the endoscope is stretched back and forth for a fixed distance and is shot respectively to obtain two target images with different shooting distances;
s3: performing target recognition on the two different shooting distance images acquired in the step, matching results obtained by target recognition of the two images, wherein if the matching is successful, the recognition targets of the two different shooting distance images are the same target, and if the matching is unsuccessful, the angle and the position of the endoscope need to be adjusted and the image acquisition is performed on the target again;
and S4, calculating the specific size of the target according to the acquired parameter information.
Preferably, the method employs an endoscope lens structure that is free to telescope a fixed distance back and forth, the endoscope lens structure being located in a fixed length slide of an endoscope front end assembly such that the endoscope lens can telescope a fixed distance L back and forth so that the endoscope lens can capture target images at different capture distances.
Preferably, the step S2 is:
pressing down a target size measuring key on an endoscope control platform, and shooting the target for the first time by the endoscope to obtain a close-range shooting image I 1 (ii) a The endoscope lens automatically contracts backwardsA fixed distance, and shooting the target for the second time to obtain a long-distance shot image I 2 。
Preferably, the step S4 specifically includes the following steps:
s4-1, setting the point A and the point B as any two points on the target, and shooting the image I in the close range by the two points A, B 1 Coordinate in (A) 1 (x 1 ,y 1 )、B 1 (x 2 ,y 2 ) At said distant range taking image I 2 Coordinate in (A) 2 (x 3 ,y 3 )、B 2 (x 4 ,y 4 )；
S4-2: calculating the length of an image formed by a line segment connected by the A, B points;
wherein alpha is the dot pitch of two adjacent pixels on the lens sensor; r is 1 Is the A 1 (x 1 ,y 1 )、B 1 (x 2 ,y 2 ) Taking an image I at the close distance at two points 1 The distance of (1); r is a radical of hydrogen 2 Is the A 2 (x 3 ,y 3 )、B 2 (x 4 ,y 4 ) Two points at the remote shot image I 2 The distance of (1);
s4-3: and setting the object distance during close-range shooting as U, the image distance as V and the moving distance of the lens in the two shooting processes as L. From the similarity of the triangles, the following formula can be obtained:
s4-4: the actual length R between points A, B is calculated. Two equations in simultaneous S4-3, the actual distance between two points A, B is obtained by the following equation:
by adopting the endoscope operation method for measuring the size of the target based on the telescopic lens, the endoscope lens adopts the endoscope lens which can move back and forth for a fixed distance, so that the moving distance of the lens in the two shooting processes before and after is known, and the image distance of the camera is also a fixed known quantity in the two shooting processes, therefore, the distance between two points A, B can be calculated by the above formula, namely, the actual size of the target can be calculated by the method.
Drawings
Fig. 1 is a schematic flow chart of the endoscopic operation method for measuring the size of an object based on a retractable lens according to the present invention.
Fig. 2 is a schematic view of the overall structure of the present invention.
Fig. 3 is a schematic diagram of a telescopic endoscope lens hardware structure according to the present invention.
FIG. 4 is a schematic diagram of the process of moving the lens of the endoscope forward and backward to collect a target image according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the method for operating an endoscope for measuring a target size based on a retractable lens includes the following steps, as shown in fig. 1:
s1, after a target needing to be measured is found, firstly, the orientation of a lens of an endoscope is adjusted, so that the lens is over against the target, and then, the position of the endoscope is adjusted, so that the target is completely presented in an image;
s2, the lens of the endoscope is stretched back and forth for a fixed distance and is shot respectively to obtain two target images with different shooting distances;
s3: performing target recognition on the two different shooting distance images acquired in the step, matching results obtained by target recognition of the two images, wherein if the matching is successful, the recognition targets of the two different shooting distance images are the same target, and if the matching is unsuccessful, the angle and the position of the endoscope need to be adjusted and the image acquisition is performed on the target again;
and S4, calculating the specific size of the target according to the acquired parameter information.
In a preferred embodiment of the present invention, the method employs an endoscope lens structure that is freely retractable back and forth for a fixed distance, and the endoscope lens structure is located in a fixed-length slideway of an endoscope front end assembly, so that the endoscope lens can be retracted back and forth for a fixed distance L, and therefore the endoscope lens can shoot target images at different shooting distances, as shown in fig. 2.
In a preferred embodiment of the present invention, the step S2 is:
pressing down a target size measuring key on an endoscope control platform, and shooting the target for the first time by the endoscope to obtain a close-range shooting image I 1 (ii) a The endoscope lens automatically contracts backwards for a fixed distance, and the target is shot for the second time to obtain a long-distance shot image I 2 As shown in fig. 3.
As a preferred embodiment of the present invention, the step S3 specifically includes the following steps:
s3-1: performing target recognition on the two images with different shooting distances acquired in the step S2, segmenting the images based on the target recognition result, and respectively obtaining a close-range target recognition image P only containing targets in the images 1 And a remote target recognition image P 2 。
S3-2: for the P 1 And P 2 And performing image matching, creating isotropic scaling shape templates with different scaling ratios and different rotation angles, and adjusting parameters such as the contrast of a proper matching object, the threshold or the hysteresis threshold of the minimum template size, the minimum contrast of the matching object in the image to be searched and the like to match the target image. And if the similarity of the matching result is too low, the camera angle needs to be switched and the target needs to be subjected to image acquisition again.
S3-3: recognizing the image P on the close-range target 1 And a remote target recognition image P 2 While carrying out image matching, P is recorded 1 Each pixel being in P 2 To facilitate the S4 step to select the A, B coordinate.
As a preferred embodiment of the present invention, the step S4 specifically includes the following steps:
s4-1, setting the point A and the point B as any two points on the target, and shooting the image I in the close range by the two points A, B 1 Coordinate in (A) 1 (x 1 ,y 1 )、B 1 (x 1 ,y 1 ) At said distant range taking image I 2 Coordinate in (A) 2 (x 3 ,y 3 )、B 2 (x 4 ,y 4 )；
S4-2: calculating the length of an image formed by a line segment connected by the A, B two points:
wherein alpha is the dot pitch of two adjacent pixels on the lens sensor; r is 1 Is the A 1 (x 1 ,y 1 )、B 1 (x 2 ,y 2 ) Taking an image I at the close distance at two points 1 The distance of (1); r is 2 Is the said A 2 (x 3 ,y 3 )、B 2 (x 4 ,y 4 ) Two points at the remote shot image I 2 The distance of (1);
s4-3: let the object distance during close-range shooting be U, the image distance be V, and the distance traveled by the lens during the two shooting passes be L, as shown in fig. 4. From the similarity of the triangles, the following formula can be obtained:
s4-4: the actual length R between points A, B is calculated. The two equations described in simultaneous S4-3, the actual distance between two points A, B is obtained by the following equation:
by adopting the endoscope operation method for measuring the size of the target based on the telescopic lens, the endoscope lens is an endoscope lens which can move back and forth for a fixed distance, so that the moving distance of the lens in the two shooting processes is known, and the image distance of the camera is also a fixed and unchangeable known quantity in the two shooting processes, so that the distance between two points A, B can be calculated by the above formula, namely the actual size of the target can be calculated by the method.
It should be understood that parts of the specification not set forth in detail are well within the prior art. Although specific embodiments of the present invention have been described above with reference to the accompanying drawings, it will be appreciated by those skilled in the art that the above embodiments are merely illustrative, and that various changes or modifications may be made in these embodiments without departing from the principles and spirit of the invention.
By adopting the endoscope operation method for measuring the size of the target by using the telescopic lens, the actual size of the target can be accurately calculated directly through the endoscope by formulating a whole set of target measurement method for completing the process. Compared with the prior art, the method can realize the nondestructive measurement of the target under the condition that the device and the equipment do not need to be disassembled or damaged to stop running, and has better application effect and popularization prospect.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (4)
1. An endoscope operation method for measuring the size of a target based on a telescopic lens is characterized in that the method respectively conducts shooting by stretching the endoscope lens back and forth for a fixed distance to obtain two target images with different shooting distances, and the specific size of the target is calculated according to known parameters, and the method specifically comprises the following steps:
s1, after a target needing to be measured is found, firstly, the direction of a lens of an endoscope is adjusted to enable the lens to be over against the target, and then, the position of the endoscope is adjusted to enable the target to be completely presented in an image;
s2, the lens of the endoscope is stretched back and forth for a fixed distance and is shot respectively to obtain two target images with different shooting distances;
s3: performing target recognition on the two different shooting distance images acquired in the step, matching results obtained by target recognition of the two images, wherein if the matching is successful, the recognition targets of the two different shooting distance images are the same target, and if the matching is unsuccessful, the angle and the position of the endoscope need to be adjusted and the image acquisition is performed on the target again;
and S4, calculating the specific size of the target according to the acquired parameter information.
2. An endoscopic operating method according to claim 1, wherein the endoscope employs an endoscope lens structure capable of freely extending and retracting back and forth for a fixed distance, and the endoscope lens structure is located in a fixed-length slideway of the endoscope front end assembly, so that the endoscope lens can extend and retract back and forth for a fixed distance L, and thus the endoscope lens can capture target images of different shooting distances.
3. The endoscope operation method for measuring the size of the target based on the retractable lens as claimed in claim 1, wherein the step S2 is specifically as follows:
pressing down a target size measuring key on an endoscope control platform, and shooting the target for the first time by the endoscope to obtain a close-range shooting image I 1 (ii) a The endoscope lens automatically contracts backwards for a fixed distance, and the target is shot for the second time to obtain a long-distance shot image I 2 。
4. The endoscope operation method based on the retractable lens to measure the size of the target according to claim 3, wherein the step S4 specifically comprises the following steps:
s4-1, setting the point A and the point B as any two points on the target, and shooting the image I in the close range by the two points A, B 1 Coordinate in (A) 1 (x 1 ,y 1 )、B 1 (x 2 ,y 2 ) At said distant range taking image I 2 Coordinate in (A) 2 (x 3 ,y 3 )、B 2 (x 4 ,y 4 )；
S4-2: calculating the length of an image formed by a line segment connected by the A, B two points in the image:
wherein alpha is the dot pitch of two adjacent pixels on the lens sensor; r is 1 Is the A 1 (x 1 ,y 1 )、B 1 (x 2 ,y 2 ) Taking an image I at the close distance at two points 1 The distance of (1); r is 2 Is the A 2 (x 3 ,y 3 )、B 2 (x 4 ,y 4 ) Two points at the remote shot image I 2 The distance of (1);
s4-3: setting the object distance during close-range shooting as U, setting the image distance as V, and setting the moving distance of the lens in the two shooting processes before and after as L, the following formula can be obtained by similarity of triangles:
s4-4: calculating the actual length R between A, B and the two points, combining the expressions (3) and (4) in step S4-3, and obtaining the actual distance between A, B and the two points by the following expression:
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117064311A (en) * | 2023-10-16 | 2023-11-17 | 深圳迈瑞生物医疗电子股份有限公司 | Endoscopic image processing method and endoscopic imaging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117064311A (en) * | 2023-10-16 | 2023-11-17 | 深圳迈瑞生物医疗电子股份有限公司 | Endoscopic image processing method and endoscopic imaging system |
| CN117064311B (en) * | 2023-10-16 | 2024-01-30 | 深圳迈瑞生物医疗电子股份有限公司 | Endoscopic image processing method and endoscopic imaging system |
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