阅读说明：本技术 自动调节胶囊拍摄速率的方法、内窥镜、记录仪及系统 (Method for automatically adjusting capsule shooting rate, endoscope, recorder and system ) 是由 王春 刘欣 游兵 曹幸静 韦佩兰 于 2019-12-05 设计创作，主要内容包括：本发明公开了一种自动调节胶囊拍摄速率的方法、胶囊式内窥镜、胶囊记录仪、及内窥镜系统。该方法包括如下步骤：获取胶囊当前拍摄的图片；获取当前胶囊拍摄图片与前一幅拍摄图片的相似度值,根据相似度值调节胶囊拍摄速率,具体过程为：判断相似度值是否低于相似度阈值,若相似度值低于相似度阈值,控制胶囊以第二拍摄速率持续拍摄时间T,若相似度值不低于相似度阈值,控制胶囊以第一拍摄速率拍摄；第二拍摄速率大于第一拍摄速率,T>0。能够自动合理地设置胶囊拍摄速率,在胶囊静止不动或运动缓慢时,以较慢帧率采集图片,可省电,延长胶囊工作时长的目的,也可减少相似图片数量,进而降低医务人员的读片数量。(The invention discloses a method for automatically adjusting capsule shooting rate, a capsule endoscope, a capsule recorder and an endoscope system. The method comprises the following steps: acquiring a current shot picture of the capsule; the method comprises the following steps of obtaining the similarity value of a current capsule shooting picture and a previous shooting picture, and adjusting the capsule shooting speed according to the similarity value, wherein the specific process comprises the following steps: judging whether the similarity value is lower than a similarity threshold value or not, if the similarity value is lower than the similarity threshold value, controlling the capsule to continuously shoot at a second shooting speed for a time T, and if the similarity value is not lower than the similarity threshold value, controlling the capsule to shoot at a first shooting speed; the second photographing rate is greater than the first photographing rate, and T > 0. The capsule shooting speed can be automatically and reasonably set, when the capsule is still or moves slowly, pictures are acquired at a slower frame rate, electricity can be saved, the working time of the capsule is prolonged, the number of similar pictures can be reduced, and the number of the pictures read by medical staff is further reduced.)

1. A method of automatically adjusting a capsule capture rate, comprising:

step S1, acquiring a current shot picture of the capsule;

step S2, obtaining the similarity value between the current capsule shooting picture and the previous shooting picture, and adjusting the capsule shooting speed according to the similarity value, the concrete process is:

judging whether the similarity value is lower than a similarity threshold value, if so, controlling the capsule to continuously shoot at a second shooting speed for a time T, returning to the step S1, and if not, controlling the capsule to shoot at a first shooting speed, and returning to the step S1;

the second shooting rate is greater than the first shooting rate, and T > 0.

2. The method of automatically adjusting a capsule capture rate of claim 1, wherein obtaining a similarity value between a current capsule capture picture and a previous capsule capture picture comprises:

carrying out binarization processing on a current capsule shooting picture to obtain a first binarization picture, and carrying out binarization processing on a shooting picture before the capsule to obtain a second binarization picture;

accumulating the number of pixel point pairs which have equal pixel values and correspond to the positions in the first binarization image and the second binarization image, and recording as a first number;

and solving the ratio of the first number to the total number of the pixel points of the first binary image or the second binary image, and taking the ratio as the similarity value of the current capsule shooting picture and the previous shooting picture.

3. The method for automatically adjusting the capsule shooting rate of claim 1, wherein T is 0-500 milliseconds.

4. A capsule endoscope, comprising an image sensor;

the image sensor shoots a picture and transmits the picture to a control module inside or outside the capsule type endoscope in real time, and the control module stores the previous picture shot by the image sensor;

the control module automatically adjusts the capsule capture rate according to the method of any one of claims 1-3.

5. The capsule recorder is characterized by comprising a first radio frequency communication module, wherein the first radio frequency communication module receives pictures sent by a capsule and transmits the pictures to a processing module inside or outside the capsule recorder, and the processing module stores a previous received picture of the first radio frequency communication module;

the processing module sets the capsule photographing rate according to the method of any one of claims 1 to 3 and transmits the set photographing rate to the capsule terminal through the first radio frequency communication module, and the capsule terminal takes pictures according to the set photographing rate.

6. The capsule recorder of claim 5, wherein the processing module is an external computer in wired or wireless communication with at least one capsule recorder.

7. An endoscope system capable of automatically adjusting capsule shooting rate is characterized by comprising a capsule and a recorder;

the recorder receives the pictures acquired by the capsule in real time and executes the following programs in a circulating mode simultaneously:

comparing the data of the currently received picture with the data of the previously received picture to obtain the similarity value of the currently received picture and the previously received picture, and if the similarity value is smaller than the similarity threshold value, sending an instruction for improving the acquisition frame rate to the capsule; if the similarity value is not smaller than the similarity threshold value, no instruction for improving the acquisition frame rate is sent to the capsule;

the capsule acquires pictures according to a preset first shooting rate, and simultaneously executes the following programs in a circulating mode:

judging whether an acquisition frame rate increasing instruction sent by a recorder is received or not, if so, switching to a second shooting rate to acquire pictures and lasting for a time T; if not, continuing to acquire the picture at the first shooting rate;

the first photographing rate is smaller than the second photographing rate, and T > 0.

8. An endoscopy system for automatically adjusting capsule capture rate as set forth in claim 7, wherein the recorder includes a data analysis processing module and a first radio frequency communication module; the capsule comprises an image sensor, a second radio frequency communication module and a control module;

the first radio frequency communication module is in wireless communication with the second radio frequency communication module, the image sensor sends the acquired picture data to the recorder end through the second radio frequency communication module, and the first radio frequency communication module receives the picture data sent by the capsule end and transmits the picture data to the data analysis processing module;

the data analysis processing module compares the currently received picture with the data of the previous picture to obtain the similarity value of the currently received picture and the previous picture, and if the similarity value is smaller than the similarity threshold value, an instruction for improving the acquisition frame rate is sent to the capsule end through the first radio frequency communication module;

the control module controls the image sensor to collect pictures, receives instruction information sent by the recorder end through the second radio frequency communication module, and simultaneously executes the following programs in a circulating mode:

judging whether an acquisition frame rate increasing instruction sent by the recorder is received, if so, controlling the image sensor to acquire the image at a second shooting rate, and returning to judge whether the acquisition frame rate increasing instruction sent by the recorder is received after the duration T; if not, controlling the image sensor to acquire the picture at a first shooting rate, wherein the second shooting rate is greater than the first shooting rate, and T > 0.

9. An endoscopy system for automatically adjusting capsule capture rate as claimed in claim 7 or claim 8, wherein the recorder end obtaining similarity values between a currently received picture and a previously received picture comprises:

carrying out binarization processing on a currently received picture to obtain a first binarization picture, and carrying out binarization processing on a previous received picture to obtain a second binarization picture;

accumulating the number of pixel point pairs which have equal pixel values and correspond to the positions in the first binarization image and the second binarization image, and recording as a first number;

and solving the ratio of the first quantity to the total quantity of the pixel points of the first binary image or the second binary image, and taking the ratio as the similarity value of the currently received image and the previously received image.

10. An endoscopy system for automatically adjusting capsule capture rate as set forth in claim 7, further comprising a computer in wired or wireless communication with the recorder.

Technical Field

The invention relates to the field of medical instruments, in particular to a method for automatically adjusting capsule shooting rate, a capsule endoscope, a capsule recorder and an endoscope system.

Background

The capsule type endoscope system is suitable for the examination of digestive tract diseases and mainly comprises a capsule type endoscope, an image recorder and image processing software. After the capsule is swallowed, the capsule continuously shoots the passing digestive tract cavity segment along with the peristaltic advance of the digestive tract, and transmits the shot picture to an image recorder carried by a patient in real time in a wireless signal mode for recording and storing; after the examination is finished, the doctor downloads the picture data to image processing software for analysis and issues a diagnosis report.

Disclosure of Invention

The invention aims to at least solve the technical problems in the prior art, and particularly innovatively provides a method for automatically adjusting capsule shooting rate, a capsule endoscope, a capsule recorder and an endoscope system.

In order to achieve the above object of the present invention, according to a first aspect of the present invention, there is provided a method of automatically adjusting a capsule photographing rate, comprising:

step S1, acquiring a current shot picture of the capsule;

step S2, obtaining the similarity value between the current capsule shooting picture and the previous shooting picture, and adjusting the capsule shooting speed according to the similarity value, the concrete process is:

judging whether the similarity value is lower than a similarity threshold value, if so, controlling the capsule to continuously shoot at a second shooting speed for a time T, returning to the step S1, and if not, controlling the capsule to shoot at a first shooting speed, and returning to the step S1;

the second shooting rate is greater than the first shooting rate, and T > 0.

The beneficial effects of the above technical scheme are: taking the comparison result of the similarity value of the capsule shooting picture and the previous picture and the similarity threshold value as the basis for adjusting the shooting speed, when the capsule is static and moves slowly or the inner cavity changes slightly, the similarity value is not lower than the similarity threshold value, shooting is carried out at a first lower shooting speed, when the capsule moves rapidly or the inner cavity changes rapidly, the similarity value is lower than the similarity threshold value, shooting is carried out at a second higher shooting speed, and after the shooting time T, the comparison is returned to continue to be compared. The whole process can automatically and reasonably set the capsule shooting speed, when the capsule is still or moves slowly, the pictures can be collected at a slower frame rate, on one hand, the electricity can be saved, and under the condition that the electric quantity of a capsule battery is limited, the purpose of prolonging the working time of the capsule is achieved, on the other hand, the number of similar pictures can be reduced, and further the number of the pictures read by medical staff is reduced.

In a preferred embodiment of the present invention, the process of obtaining the similarity value between the current captured picture of the capsule and the previous captured picture comprises:

carrying out binarization processing on a current capsule shooting picture to obtain a first binarization picture, and carrying out binarization processing on a shooting picture before the capsule to obtain a second binarization picture;

accumulating the number of pixel point pairs which have equal pixel values and correspond to the positions in the first binarization image and the second binarization image, and recording as a first number;

and solving the ratio of the first number to the total number of the pixel points of the first binary image or the second binary image, and taking the ratio as the similarity value of the current capsule shooting picture and the previous shooting picture.

The beneficial effects of the above technical scheme are: the method for acquiring the similarity value is simple, the calculation amount is small, the result can be quickly acquired, the processing time is greatly saved, and the response speed for adjusting the capsule speed is improved.

In a preferred embodiment of the present invention, T is 0 to 500 milliseconds. In order to achieve the above object of the present invention, according to a second aspect of the present invention, there is provided a capsule endoscope comprising an image sensor;

the image sensor shoots a picture and transmits the picture to a control module inside or outside the capsule type endoscope in real time, and the control module stores the previous picture shot by the image sensor;

the control module automatically adjusts the capsule shooting rate according to the method of the invention.

The beneficial effects of the above technical scheme are: the capsule type endoscope can automatically adjust the shooting speed by utilizing an internal or external control module, and can acquire pictures at a slower frame rate when the capsule type endoscope is still or moves slowly, so that the power can be saved, the aim of prolonging the working time of a capsule is fulfilled under the condition that the electric quantity of a battery of the capsule is limited, and the quantity of similar pictures can be reduced, so that the quantity of the read pictures of medical staff is reduced.

In order to achieve the above object, according to a third aspect of the present invention, the present invention provides a capsule recorder, including a first radio frequency communication module, where the first radio frequency communication module receives a picture sent by a capsule and transmits the picture to a processing module inside or outside the capsule recorder, and the processing module stores a previous received picture of the first radio frequency communication module;

the processing module sets the capsule shooting rate according to the method of the invention, and transmits the set shooting rate to the capsule end through the first radio frequency communication module, and the capsule end shoots pictures according to the set shooting rate.

The beneficial effects of the above technical scheme are: the capsule recorder can automatically set the shooting speed of the capsule by utilizing an internal or external control module, and when the capsule is still or moves slowly, the capsule is set with a slower frame rate to collect pictures, so that on one hand, electricity can be saved, under the condition that the electric quantity of a capsule battery is limited, the purpose of prolonging the working time of the capsule is achieved, on the other hand, the number of similar pictures can be reduced, and further the number of the read pictures of medical staff is reduced.

In a preferred embodiment of the invention, the processing module is an external computer, which is in wired or wireless communication with the at least one capsule recorder.

The beneficial effects of the above technical scheme are: with the greater computing power of the external computer, the shooting rate can be set more quickly for one or more capsules.

In order to achieve the above object of the present invention, according to a fourth aspect of the present invention, there is provided an endoscope system automatically adjusting a capsule photographing rate, comprising a capsule and a recorder;

the recorder receives the pictures acquired by the capsule in real time and executes the following programs in a circulating mode simultaneously:

comparing the data of the currently received picture with the data of the previously received picture to obtain the similarity value of the currently received picture and the previously received picture, and if the similarity value is smaller than the similarity threshold value, sending an instruction for improving the acquisition frame rate to the capsule; if the similarity value is not smaller than the similarity threshold value, no instruction for improving the acquisition frame rate is sent to the capsule;

the capsule acquires pictures according to a preset first shooting rate, and simultaneously executes the following programs in a circulating mode:

judging whether an acquisition frame rate increasing instruction sent by a recorder is received or not, if so, switching to a second shooting rate to acquire pictures and lasting for a time T; if not, continuing to acquire the picture at the first shooting rate;

the first photographing rate is smaller than the second photographing rate, and T > 0.

The beneficial effects of the above technical scheme are: the endoscope system utilizes the capsule and the recorder to mutually cooperate to automatically adjust the shooting speed, can acquire pictures at a slower frame rate when the capsule is still or moves slowly, can save electricity on the one hand, and achieves the purpose of prolonging the working time of the capsule under the condition that the electric quantity of a battery of the capsule is limited, and on the other hand can reduce the number of similar pictures, thereby reducing the number of the reading of medical staff.

In a preferred embodiment of the present invention, the recorder includes a data analysis processing module and a first radio frequency communication module; the capsule comprises an image sensor, a second radio frequency communication module and a control module;

the first radio frequency communication module is in wireless communication with the second radio frequency communication module, the image sensor sends the acquired picture data to the recorder end through the second radio frequency communication module, and the first radio frequency communication module receives the picture data sent by the capsule end and transmits the picture data to the data analysis processing module;

the data analysis processing module compares the currently received picture with the data of the previous picture to obtain the similarity value of the currently received picture and the previous picture, and if the similarity value is smaller than the similarity threshold value, an instruction for improving the acquisition frame rate is sent to the capsule end through the first radio frequency communication module;

the control module controls the image sensor to collect pictures, receives instruction information sent by the recorder end through the second radio frequency communication module, and simultaneously executes the following programs in a circulating mode:

judging whether an acquisition frame rate increasing instruction sent by the recorder is received, if so, controlling the image sensor to acquire the image at a second shooting rate, and returning to judge whether the acquisition frame rate increasing instruction sent by the recorder is received after the duration T; if not, controlling the image sensor to acquire the picture at a first shooting rate, wherein the second shooting rate is greater than the first shooting rate, and T > 0.

The beneficial effects of the above technical scheme are: the modules at the open recorder end and the capsule end are mutually matched to finish the process of automatically adjusting the capsule shooting speed by the capsule, and the modules are tightly matched.

In a preferred embodiment of the present invention, the process of acquiring the similarity value between the currently received picture and the previously received picture by the recorder side includes:

carrying out binarization processing on a currently received picture to obtain a first binarization picture, and carrying out binarization processing on a previous received picture to obtain a second binarization picture;

accumulating the number of pixel point pairs which have equal pixel values and correspond to the positions in the first binarization image and the second binarization image, and recording as a first number;

and solving the ratio of the first quantity to the total quantity of the pixel points of the first binary image or the second binary image, and taking the ratio as the similarity value of the currently received image and the previously received image.

The beneficial effects of the above technical scheme are: the process of obtaining the similarity value is simple, the calculation amount is small, the result can be quickly obtained, the processing time is greatly saved, and the response speed of adjusting the capsule speed is improved.

In a preferred embodiment of the invention, a computer is further included, the computer being in wired or wireless communication with the recorder.

The beneficial effects of the above technical scheme are: the shot picture can be further observed and analyzed conveniently.

Drawings

FIG. 1 is a schematic flow chart of a method for automatically adjusting the capsule capture rate in accordance with one embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating a process of obtaining a binarized picture according to an embodiment of the present invention; wherein FIG. 2(a) is the original drawing; FIG. 2(b) is a binarized picture;

FIG. 3 is a hardware block diagram of an endoscopic system in accordance with an embodiment of the present invention;

FIG. 4 is a system block diagram of an endoscope system in accordance with another embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

The invention discloses a method for automatically adjusting capsule shooting rate, in a preferred embodiment, a flow chart is shown in figure 1, and the method comprises the following steps:

step S1, acquiring a current shot picture of the capsule;

step S2, obtaining the similarity value between the current capsule shooting picture and the previous shooting picture, and adjusting the capsule shooting speed according to the similarity value, the concrete process is:

judging whether the similarity value is lower than a similarity threshold value, if the similarity value is lower than the similarity threshold value, controlling the capsule to continuously shoot at the second shooting speed for time T, returning to the step S1, if the similarity value is not lower than the similarity threshold value, controlling the capsule to shoot at the first shooting speed, and returning to the step S1;

the second photographing rate is greater than the first photographing rate, and T > 0.

In the present embodiment, the similarity value between the current captured capsule picture and the previous captured capsule picture can be obtained by using the existing similarity calculation method, such as the method disclosed in chinese patent publication No. CN104239882B or CN 100583148. The similarity threshold is preferably between 30% and 80%, preferably 50%, of the similarity value of two identical pictures.

In the present embodiment, the first photographing rate is greater than zero. T is 5-15 seconds, preferably, T is 10 seconds.

In a preferred embodiment, as shown in fig. 2, wherein the photographed picture is shown in fig. 2(a), and the binarized picture is shown in fig. 2 (b).

The process of obtaining the similarity value between the current capsule shot picture and the previous shot picture comprises the following steps:

carrying out binarization processing on a current capsule shooting picture to obtain a first binarization picture, and carrying out binarization processing on a shooting picture before the capsule to obtain a second binarization picture;

accumulating the number of pixel point pairs which have equal pixel values and correspond to the positions in the first binarization image and the second binarization image, and recording as a first number;

and solving the ratio of the first number to the total number of the pixel points of the first binary image or the second binary image, and taking the ratio as the similarity value of the current capsule shooting picture and the previous shooting picture.

In this embodiment, the similarity value between the current capsule picture and the previous capsule picture ranges from 0 to 1, and the similarity threshold is preferably 0.3 to 0.8.

In this embodiment, the picture can be regarded as a matrix, the element in the matrix is a color value, the value is composed of three parameters of RGB, the value range of the three parameters is 0 to 255, the range of 0 to 255 is too large to facilitate calculation, the picture can be subjected to dimension reduction processing and binarization processing, the picture is changed into black and white, black is represented by 1, and white is represented by 0, so that a matrix is obtained, and only 0 and 1 are provided, as shown in fig. 2 (b). Comparing each pixel point of the two pictures, if the pixel points are equal, adding 1 to the number of the similar point pairs, and after the two pictures are scanned, obtaining the number of the similar point pairs between the two pictures, namely a first number, and dividing the first number by the total number of the point pairs to obtain a numerical value between 0 and 1, namely the similarity value of the two pictures.

The invention also discloses a capsule type endoscope, which comprises an image sensor in a preferred embodiment;

the image sensor shoots pictures and transmits the pictures to a control module (the interior is in the capsule; the peripheral can be arranged outside the capsule and independent from the capsule or arranged on a recorder) inside or outside the capsule type endoscope in real time, and the control module stores the previous shot pictures of the image sensor;

the control module automatically adjusts the capsule shooting rate according to the method.

In this embodiment, the control module may be inside the capsule endoscope, may be separately arranged, or may utilize an original control unit of the capsule endoscope, and the control module is preferably, but not limited to, a microprocessor such as a single chip microcomputer or an ARM. The control module can be outside the capsule type endoscope and is independent from the capsule; or the image data transmission and the shooting rate adjusting instruction can be completed through a communication module between the recorder and the capsule.

The invention also discloses a capsule recorder which comprises a first radio frequency communication module, wherein the first radio frequency communication module receives the picture sent by the capsule and transmits the picture to a processing module inside or outside the capsule recorder, and the processing module stores the previous received picture of the first radio frequency communication module;

the processing module sets the capsule shooting rate according to the method, the set shooting rate is transmitted to the capsule end through the first radio frequency communication module, and the capsule end shoots pictures according to the set shooting rate.

In the present embodiment, a processing unit inside the capsule recorder may be used as the processing module, and a processing unit independent from the capsule recorder may be used as the processing module, and the processing module is preferably, but not limited to, a computer such as a microprocessor or a computer.

In a preferred embodiment, the processing module is an external computer, the computer being in wired or wireless communication with the at least one capsule recorder.

In this embodiment, the computer is preferably, but not limited to, a desktop computer, a notebook, a smart phone, a tablet, or a computing server, and the like, and may be in wired communication with the at least one capsule recorder through a serial port line, an ethernet line, and the like, so as to perform wired transmission of the picture and the set shooting rate; it also can be through WIFI, bluetooth etc. and at least one capsule record appearance radio communication, accomplishes the shooting rate radio transmission of picture and setting. The capsule recorder completes the wireless transmission of the pictures and the set shooting rate through the communication module between the capsule recorder and the capsule. The invention also discloses an endoscope system capable of automatically adjusting the capsule shooting rate, which comprises a capsule and a recorder in a preferred embodiment as shown in figure 3;

the recorder receives the pictures acquired by the capsule in real time and executes the following programs in a circulating mode at the same time:

comparing the data of the currently received picture with the data of the previously received picture to obtain the similarity value of the currently received picture and the previously received picture, and if the similarity value is smaller than the similarity threshold value, sending an instruction for improving the acquisition frame rate to the capsule; if the similarity value is not less than the similarity threshold value, no instruction for improving the acquisition frame rate is sent to the capsule;

the capsule acquires pictures according to a preset first shooting rate, and simultaneously executes the following programs in a circulating mode:

judging whether an acquisition frame rate increasing instruction sent by a recorder is received or not, if so, switching to a second shooting rate to acquire pictures and lasting for a time T; if not, continuing to acquire the picture at the first shooting rate;

the first shooting rate is less than the second shooting rate, T is greater than 0, the first shooting rate is greater than zero, and T is 0-500 milliseconds.

In a preferred embodiment, the recorder comprises a data analysis processing module and a first radio frequency communication module; the capsule comprises an image sensor, a second radio frequency communication module and a control module;

the first radio frequency communication module is in wireless communication with the second radio frequency communication module, the image sensor sends the acquired picture data to the recorder end through the second radio frequency communication module, and the first radio frequency communication module receives the picture data sent by the capsule end and transmits the picture data to the data analysis processing module;

the data analysis processing module compares the currently received picture with the data of the previous picture to obtain the similarity value of the currently received picture and the previous picture, and if the similarity value is smaller than the similarity threshold value, an instruction for improving the acquisition frame rate is sent to the capsule end through the first radio frequency communication module;

the control module controls the image sensor to acquire pictures, the pictures can be acquired at a first shooting rate, a second shooting rate or other shooting rates, the instruction information sent by the recorder end is received through the second radio frequency communication module, and the following programs are executed in a circulating mode:

judging whether an acquisition frame rate increasing instruction sent by the recorder is received, if so, controlling the image sensor to acquire the image at a second shooting rate, and returning to judge whether the acquisition frame rate increasing instruction sent by the recorder is received after the duration T; if not, controlling the image sensor to acquire the picture at a first shooting rate, wherein the second shooting rate is greater than the first shooting rate, and T > 0.

In this embodiment, preferably, if an instruction for increasing the frame rate is received from the recorder, the image sensor is controlled to capture the image at the second capture rate, and the image sensor continues to receive the instruction for increasing the frame rate after the duration T, so as to increase the value of the second capture rate.

In a preferred embodiment, the process of acquiring the similarity value between the currently received picture and the previously received picture by the recorder side includes:

carrying out binarization processing on a currently received picture to obtain a first binarization picture, and carrying out binarization processing on a previous received picture to obtain a second binarization picture;

accumulating the number of pixel point pairs which have equal pixel values and correspond to the positions in the first binarization image and the second binarization image, and recording as a first number;

and solving the ratio of the first quantity to the total quantity of the pixel points of the first binary image or the second binary image, and taking the ratio as the similarity value of the currently received image and the previously received image.

In a preferred embodiment, as shown in fig. 4, a computer is also included, the computer being in wired or wireless communication with the recorder.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.