Brightness adjusting method and image acquisition equipment

Abstract

The invention discloses a brightness adjusting method and image acquisition equipment, and relates to the field of illumination, and the method comprises the steps: obtaining a current image, and determining the brightness value of the current image; judging whether the brightness value is within a preset brightness range or not; if the brightness value is within the preset brightness range, outputting the current image; if the brightness value is not in the preset brightness range, judging whether the exposure time of a light emitter in the image acquisition equipment is in a preset time range or not; and if the exposure time of the illuminator in the image acquisition equipment is not within the preset time range, adjusting the exposure time or the brightness state of the illuminator in the image acquisition equipment. The brightness value of the image is automatically adjusted in combination with the brightness and the exposure time, the image brightness is adjusted when the image is output, and reduction of image quality caused by adjustment of the image brightness after imaging is avoided.

Description

Technical Field

[0001] The present invention relates to the field of lighting, and in particular to a brightness adjustment method and image acquisition equipment. Background Art

[0002] Capsule endoscopes, especially capsule endoscopes that can be used to examine the stomach and small intestine at the same time and have multi-site inspection functions, have variability in their shooting scenes. The previous lighting design with fixed LED light brightness no longer meets the lighting needs of practical applications. There is an urgent need to find a means to achieve automatic brightness adjustment so that the brightness of the capsule-shot images remains within a range suitable for clinical diagnosis. The relevant technology mainly uses post-image processing to achieve automatic adjustment of image brightness by capsule cameras, that is, the captured images are processed by post-image processing software in terms of brightness, exposure, grayscale, etc. to obtain a brighter image. This method is based on the original image for adjustment and cannot change the brightness of the original image. Therefore, the processed image will have a certain degree of distortion. Although the image brightness is improved, the image quality is reduced. Summary of the invention

[0003] The purpose of the present invention is to provide a brightness adjustment method and image acquisition equipment, which automatically adjust the brightness value of an image in combination with the brightness and exposure time, and adjust the image brightness before outputting the image, without adjusting the image brightness after imaging, which would result in reduced image quality.

[0004] In order to solve the above technical problems, the present invention provides a brightness adjustment method, comprising:

[0005] Acquire a current image and determine a brightness value of the current image;

[0006] Determining whether the brightness value is within a preset brightness range;

[0007] If the brightness value is within the preset brightness range, outputting the current image;

[0008] If the brightness value is not within the preset brightness range, the exposure time or brightness state of the light emitter in the image acquisition device is adjusted, the exposure time is positively correlated with the brightness value, and the brightness state includes a bright state and a dark state.

[0009] On the other hand, obtaining a current image and determining a brightness value of the current image includes:

[0010] Get the RGB image data of the current image;

[0011] Calculating the brightness value of the current image according to a preset weight, the RGB image data and a brightness relationship equation, wherein the brightness relationship equation is brightness value=a×R+b×G+c×B;

[0012] Among them, a is the preset weight of red light, b is the preset weight of green light, c is the preset weight of blue light, R is the brightness of red light, G is the brightness of green light, and B is the brightness of blue light.

[0013] On the other hand, if the brightness value is not within the preset brightness range, adjusting the exposure time or brightness state of the light emitter in the image acquisition device includes:

[0014] If the brightness value is less than the minimum boundary value of the preset brightness range, determining whether the exposure time is less than the maximum boundary value of the preset time range;

[0015] If the exposure time is less than the maximum boundary value of the preset time range, the exposure time of the light emitter in the image acquisition device is extended according to the exposure time algorithm.

[0016] On the other hand, if the brightness value is less than the minimum boundary value of the preset brightness range, after determining whether the exposure time is less than the maximum boundary value of the preset time range, the method further includes:

[0017] If the exposure time is not less than the maximum boundary value of the preset time range, the brightness state of the light emitter in the image acquisition device is adjusted to a bright state.

[0018] On the other hand, if the brightness value is not within the preset brightness range, adjusting the exposure time or brightness state of the light emitter in the image acquisition device includes:

[0019] If the brightness value is greater than the maximum boundary value of the preset brightness range, determining whether the exposure time is greater than the minimum boundary value of the preset time range;

[0020] If the exposure time is greater than the minimum boundary value of the preset time range, the exposure time of the light emitter in the image acquisition device is shortened according to the exposure time algorithm.

[0021] On the other hand, if the brightness value is greater than the maximum boundary value of the preset brightness range, after determining whether the exposure time is greater than the minimum boundary value of the preset time range, the method further includes:

[0022] If the exposure time is not greater than the minimum boundary value of the preset time range, the brightness state of the light emitter in the image acquisition device is adjusted to a dark state.

[0023] On the other hand, adjusting the exposure time of the light emitter in the image acquisition device includes:

[0024] When the brightness value is not greater than the first brightness value, the exposure time is adjusted to T1=T+n×Tstep;

[0025] When the brightness value is greater than the first brightness value and less than the second brightness value, the exposure time is adjusted to T1=T+Tstep;

[0026] When the brightness value is greater than or equal to the second brightness value and less than or equal to the third brightness value, the exposure time is adjusted to T1=T;

[0027] When the brightness value is greater than the third brightness value and less than the fourth brightness value, the exposure time is adjusted to T1=T-Tstep;

[0028] When the brightness value is not less than the fourth brightness value, the exposure time is adjusted to T1=Tn×Tstep;

[0029] Among them, T is the current exposure time, T1 is the adjusted exposure time, the first brightness value, the second brightness value, the third brightness value and the fourth brightness value increase in sequence, and n is a positive integer.

[0030] On the other hand, the image acquisition device includes a processor, a light emitter, a first controllable switch and a current limiting resistor, wherein a first end of the light emitter is connected to a power supply, a second end of the light emitter is connected to a first end of the first controllable switch, a first output end of the processor is connected to a control end of the first controllable switch, a second end of the first controllable switch is connected to a first end of the current limiting resistor, and a second end of the current limiting resistor is grounded;

[0031] Adjust the exposure time of the illuminator in the image acquisition device, including:

[0032] The conduction time of the first controllable switch is controlled to adjust the exposure time of the light emitter in the image acquisition device.

[0033] On the other hand, the image acquisition device further includes a second controllable switch, a control end of the second controllable switch is connected to the second output end of the processor, a first end of the second controllable switch is connected to the first end of the current limiting resistor, and a second end of the second controllable switch is connected to the second end of the current limiting resistor;

[0034] Adjust the brightness of the light emitter in the image acquisition device, including:

[0035] Controlling the second controllable switch to be turned on to adjust the light emitter to a bright state;

[0036] The second controllable switch is controlled to be turned off to adjust the light emitter to a dark state.

[0037] In order to solve the above technical problems, the present invention further provides an image acquisition device, including a processor, a light emitter, a first controllable switch, a second controllable switch and a current limiting resistor, wherein the first end of the light emitter is connected to a power supply, the second end of the light emitter is connected to the first end of the first controllable switch, the first output end of the processor is connected to the control end of the first controllable switch, the second end of the first controllable switch is connected to the first end of the current limiting resistor, the second end of the current limiting resistor is grounded, the control end of the second controllable switch is connected to the second output end of the processor, the first end of the second controllable switch is connected to the first end of the current limiting resistor, and the second end of the second controllable switch is connected to the second end of the current limiting resistor;

[0038] The processor is used to implement the steps of the brightness adjustment method when executing the computer program.

[0039] The present application provides a brightness adjustment method and image acquisition device, which relates to the field of lighting, including obtaining a current image and determining the brightness value of the current image; judging whether the brightness value is within a preset brightness range; if the brightness value is within the preset brightness range, outputting the current image; if the brightness value is not within the preset brightness range, judging whether the exposure time of the light emitter in the image acquisition device is within a preset time range; if the exposure time of the light emitter in the image acquisition device is not within the preset time range, adjusting the exposure time or brightness state of the light emitter in the image acquisition device. The brightness value of the image is automatically adjusted in combination with the brightness and exposure time, and the image brightness is adjusted when the image is output, avoiding the image quality reduction caused by adjusting the image brightness after imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A flow chart of a brightness adjustment method provided by the present invention;

[0042] Figure 2 A flow chart of another brightness adjustment method provided by the present invention;

[0043] Figure 3 A flow chart of an exposure algorithm provided by the present invention;

[0044] Figure 4 A structural schematic diagram of an image acquisition device provided by the present invention. DETAILED DESCRIPTION

[0045] The core of the present invention is to provide a brightness adjustment method and image acquisition equipment, which automatically adjust the brightness value of the image in combination with the brightness and exposure time. The image brightness is adjusted when the image is output, avoiding the image quality reduction caused by adjusting the image brightness after imaging.

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Figure 1 A flow chart of a brightness adjustment method provided by the present invention, the brightness adjustment method comprising:

[0048] S11: Acquire the current image and determine the brightness value of the current image;

[0049] S12: Determine whether the brightness value is within a preset brightness range; if so, proceed to step S13; if not, proceed to step S14;

[0050] S13: Output the current image;

[0051] S14: adjusting the exposure time or brightness state of the light emitter in the image acquisition device, wherein the exposure time is positively correlated with the brightness value, and the brightness state includes a bright state and a dark state.

[0052] China is a high-incidence region for digestive diseases, among which the incidence of gastric cancer ranks first in the world. The symptoms of early gastric cancer are basically similar to those of gastritis, so regular gastroscopy plays a vital role in early detection, early treatment, and improving the cure rate of gastric cancer. However, the discomfort and possible infection risks of traditional gastroscopy have caused many people to give up traditional gastroscopy for health screening. The emergence of capsule endoscopy has brought good news to patients with gastrointestinal diseases, especially the emergence of capsule endoscopy robots, which provide patients and medical staff with a more convenient means of screening for gastrointestinal diseases. It has the advantages of painlessness, non-invasiveness, no anesthesia, small size, no foreign body sensation, and simple operation, making capsule endoscopy the preferred medical detection method for patients with digestive diseases.

[0053] Capsule endoscopes, especially those with multi-site inspection functions such as the stomach and small intestine, have a variety of shooting scenes. The previous lighting design with fixed LED light brightness no longer meets the lighting needs of practical applications. There is an urgent need to find a way to achieve automatic brightness adjustment so that the brightness of the capsule images remains within a range suitable for clinical diagnosis.

[0054] The brightness range is set in advance according to the optimal image brightness value range (Lmin-Lmax). The purpose of adjusting the image brightness value is to make the image brightness within the preset brightness range. If the image brightness is within the preset brightness range, there is no need to adjust the image brightness and it can be directly output.

[0055] If the brightness of the image is not within the preset brightness range, the brightness of the image needs to be adjusted, and the adjustment method may be to adjust the exposure time and the brightness state.

[0056] Adjust the camera's exposure time to extend the CMOS integration time to improve image brightness. The exposure time is the time interval from when the LED light turns on to when it turns off. The CMOS integration time is the time it takes for each pixel on the CMOS sensor to accumulate light signals, that is, the total time from when the first pixel starts to be exposed to when the last pixel ends exposure. During this time, the sensor's pixels collect incident photons and convert them into electric charges, which are then read and converted into digital signals. Adjusting the integration time can affect image brightness: the longer the integration time, the brighter the image, but it may also cause overexposure; the shorter the integration time, the darker the image. Although the exposure time and integration time are different, they affect each other during the imaging process. The exposure time directly affects the time when the CMOS takes pictures. The longer the exposure time, the more light enters the CMOS sensor; and the integration time affects the effect of the CMOS collecting light signals. In practical applications, these two parameters can be reasonably adjusted according to different lighting conditions and environments to obtain the best image effect.

[0057] This application sets the brightness state to a bright state and a dark state, and the brightness of the bright state is naturally higher than that of the dark state.

[0058] The present application provides a brightness adjustment method and image acquisition device, which relates to the field of lighting, including obtaining a current image and determining the brightness value of the current image; judging whether the brightness value is within a preset brightness range; if the brightness value is within the preset brightness range, outputting the current image; if the brightness value is not within the preset brightness range, judging whether the exposure time of the light emitter in the image acquisition device is within a preset time range; if the exposure time of the light emitter in the image acquisition device is not within the preset time range, adjusting the exposure time or brightness state of the light emitter in the image acquisition device. The brightness value of the image is automatically adjusted in combination with the brightness and exposure time, and the image brightness is adjusted when the image is output, avoiding the image quality reduction caused by adjusting the image brightness after imaging.

[0059] Based on the above embodiments:

[0060] In some embodiments, acquiring a current image and determining a brightness value of the current image includes:

[0061] Obtain the RGB image data of the current image;

[0062] Calculate the brightness value of the current image according to the preset weights, RGB image data and brightness relation formula. The brightness relation formula is brightness value = a×R + b×G + c×B;

[0063] Wherein, a is the preset weight of red light, b is the preset weight of green light, c is the preset weight of blue light, R is the brightness of red light, G is the brightness of green light, and B is the brightness of blue light.

[0064] The image data includes the RGB data that makes up an image and can be read by itself after taking an image. Calculate the brightness value according to the RGB image data. For example, calculate according to the proportion of the three RGB lights: brightness value = 0.3×R + 0.6×G + 0.1×B.

[0065] R is Red, G is Green, and B is Blue.

[0066] Figure 2 It is a flowchart of another brightness adjustment method provided by the present invention;

[0067] In some embodiments, if the brightness value is not within the preset brightness range, then adjust the exposure time or brightness state of the illuminator in the image acquisition device, including:

[0068] If the brightness value is less than the minimum boundary value of the preset brightness range, then determine whether the exposure time is less than the maximum boundary value of the preset time range;

[0069] If the exposure time is less than the maximum boundary value of the preset time range, then extend the exposure time of the illuminator in the image acquisition device according to the exposure time algorithm. The minimum boundary value of the preset brightness range is Lmin, and the maximum boundary value of the preset time range is Tmax.

[0070] In this application, the exposure time is adjusted first and then the brightness is adjusted. Because only adjusting the exposure time will not increase the power consumption of the circuit when the light is on, and increasing the brightness of the illuminator is achieved by increasing the current of the light-emitting LED, which will increase the circuit power consumption. Therefore, adjusting the exposure time is preferred.

[0071] The brightness value of the current image is L1. When L1 < Lmin and T < Tmax, the current brightness is insufficient. Since the exposure time can continue to increase, increasing the brightness by increasing the exposure time is preferred.

[0072] In some embodiments, if the brightness value is less than the minimum boundary value of the preset brightness range, after determining whether the exposure time is less than the maximum boundary value of the preset time range, it further includes:

[0073] If the exposure time is not less than the maximum boundary value of the preset time range, adjust the brightness state of the image acquisition device to the bright state.

[0074] The current image brightness value is L1. When L1 < Lmin and T ≥ Tmax, the current brightness is insufficient. Since the current exposure time has reached the upper limit, the brightness can only be increased by adjusting the brightness state of the illuminator to the bright state.

[0075] In some embodiments, if the brightness value is not within the preset brightness range, adjust the exposure time or brightness state of the illuminator in the image acquisition device, including:

[0076] If the brightness value is greater than the maximum boundary value of the preset brightness range, determine whether the exposure time is greater than the minimum boundary value of the preset time range;

[0077] If the exposure time is greater than the minimum boundary value of the preset time range, shorten the exposure time of the illuminator in the image acquisition device according to the exposure time algorithm.

[0078] The maximum boundary value of the preset image brightness range is Lmax, and the minimum boundary value of the preset exposure time range is Tmin.

[0079] The current image brightness value is L1. When L1 > Lmax and T > Tmin, the current brightness is too high. Since the exposure time can still be reduced, the brightness is preferentially reduced by reducing the exposure time.

[0080] In some embodiments, after determining whether the exposure time is greater than the minimum boundary value of the preset time range when the brightness value is greater than the maximum boundary value of the preset brightness range, it further includes:

[0081] If the exposure time is not greater than the minimum boundary value of the preset time range, adjust the brightness state of the illuminator to the dark state.

[0082] The current image brightness value is L1. When L1 > Lmax and T ≤ Tmin, the current brightness is too high. Since the current exposure time has reached the lower limit, the brightness can only be reduced by adjusting the brightness state of the illuminator to the dark state.

[0083] Figure 3 It is a flowchart of an exposure algorithm provided by the present invention;

[0084] In some embodiments, adjusting the exposure time of the illuminator in the image acquisition device includes:

[0085] When the brightness value is not greater than the first brightness value, adjust the exposure time to T1 = T + n × Tstep;

[0086] When the brightness value is greater than the first brightness value and less than the second brightness value, the exposure time is adjusted to T1=T+Tstep;

[0087] When the brightness value is greater than or equal to the second brightness value and less than or equal to the third brightness value, the exposure time is adjusted to T1=T;

[0088] When the brightness value is greater than the third brightness value and less than the fourth brightness value, the exposure time is adjusted to T1=T-Tstep;

[0089] When the brightness value is not less than the fourth brightness value, the exposure time is adjusted to T1=Tn×Tstep;

[0090] Among them, T is the current exposure time, T1 is the adjusted exposure time, the first brightness value, the second brightness value, the third brightness value and the fourth brightness value increase in sequence, and n is a positive integer.

[0091] In this application, the first brightness value is set to 0.8Lmin, the second brightness value is set to Lmin, the third brightness value is set to Lmax, the fourth brightness value is set to 1.2Lmax, and n is set to 2.

[0092] The five intervals are:

[0093] The first interval: L1≤0.8Lmin, T1=T+n×Tstep;

[0094] The second interval: 0.8Lmin <L1<Lmin,T1=T+Tstep;

[0095] The third interval: Lmin≤L1≤Lmax, T1=T;

[0096] The fourth interval: Lmax <L1<1.2Lmax,T1=T-Tstep;

[0097] The fifth interval: 1.2Lmax≤L1, T1=T-2Tstep.

[0098] The step length of exposure time adjustment is set according to actual application requirements: if you need to use a higher precision adjustment effect, you can use 1 / 100 of the difference between the maximum and minimum exposure time as the step value; if the adjustment accuracy is not high, you can use 1 / 10 of the difference between the maximum and minimum exposure time as the step value. The step length is set according to actual needs. Figure 3 It is represented by Tstep.

[0099] When the image brightness value is less than 0.8 times of Lmin or greater than 1.2 times of Lmax, the exposure time will be adjusted with twice the step length Tstep to reduce the number of exposure adjustments, which is beneficial to shorten the exposure adjustment time. If the brightness value of the image taken with the current exposure time T is within the required range (i.e. Lmin~Lmax), the current exposure time will not be changed.

[0100] Figure 4 A schematic diagram of the structure of an image acquisition device provided by the present invention;

[0101] In some embodiments, the image acquisition device includes a processor CPU, a light emitter, a first controllable switch Q1 and a current limiting resistor R5, the first end of the light emitter is connected to a power supply, the second end of the light emitter is connected to the first end of the first controllable switch Q1, the first output end of the processor CPU is connected to the control end of the first controllable switch Q1, the second end of the first controllable switch Q1 is connected to the first end of the current limiting resistor R5, and the second end of the current limiting resistor R5 is grounded;

[0102] Adjust the exposure time of the illuminator in the image acquisition device, including:

[0103] The conduction time of the first controllable switch Q1 is controlled to adjust the exposure time of the light emitter in the image acquisition device.

[0104] Figure 4 In this example, 4 LED lights are used as light emitters. In actual applications, the number of light sources can be reduced or increased according to actual conditions. VCC_LED represents the power supply voltage of light emitters LED1~LED4, R1~R4 are current limiting resistors corresponding to light emitters LED1~LED4, Q1 and Q2 are NMOS tubes, R5 is the current limiting resistor of the total current of all LEDs, and the processor CPU is used for image processing and circuit control; Pin1 and Pin2 are the IO control pins of the CPU. The first output terminal Pin1 and the second output terminal Pin2 of the CPU control the exposure time and brightness of the 4 LED lights respectively.

[0105] The principle of Pin1 controlling the LED exposure time: Pin1 is connected to the gate of NMOS tube Q1, which can control the on and off of Q1. When Q1 is on, the four LED lights are lit at the same time; when Q1 is off, the four LED lights will be off at the same time; the CPU controls the exposure time of the LED lights by controlling the on time of Q1 through Pin1.

[0106] The control end of the first controllable switch and the second controllable switch is the gate of the NMOS tube, the first end of the first controllable switch and the second controllable switch is the source of the NMOS tube, and the second end of the first controllable switch and the second controllable switch is the drain of the NMOS tube.

[0107] In some embodiments, the image acquisition device further includes a second controllable switch Q2, a control end of the second controllable switch Q2 is connected to the second output end of the processor CPU, a first end of the second controllable switch Q2 is connected to the first end of the current limiting resistor R5, and a second end of the second controllable switch Q2 is connected to the second end of the current limiting resistor R5;

[0108] Adjust the brightness of the light emitter in the image acquisition device, including:

[0109] Controlling the second controllable switch Q2 to be turned on to adjust the light emitter to a bright state;

[0110] The second controllable switch Q2 is controlled to be turned off to adjust the light emitter to a dark state.

[0111] The principle of Pin2 controlling LED brightness: Pin2 is connected to the gate of NMOS tube Q2, which can control the on and off of Q2. When Q2 is on, resistor R5 is partially short-circuited, and the total current of the LED lamp flows into GND through Q2, the total resistance of the line decreases, the current increases, and the LED light becomes brighter; when Q2 is off, the total current of the LED lamp flows into GND through R5, the total resistance of the line increases, the current decreases, and the LED light becomes relatively dim. The CPU controls the on and off of Q2 through Pin2 to achieve brightness adjustment of the light-emitting LED lamp.

[0112] Figure 4 A structural schematic diagram of an image acquisition device provided by the present invention, the image acquisition device includes a processor CPU, a light emitter, a first controllable switch Q1, a second controllable switch Q2 and a current limiting resistor R5, a first end of the light emitter is connected to a power supply, a second end of the light emitter is connected to a first end of the first controllable switch Q1, a first output end of the processor CPU is connected to a control end of the first controllable switch Q1, a second end of the first controllable switch Q1 is connected to a first end of the current limiting resistor R5, a second end of the current limiting resistor R5 is grounded, a control end of the second controllable switch Q2 is connected to a second output end of the processor CPU, a first end of the second controllable switch Q2 is connected to a first end of the current limiting resistor R5, and a second end of the second controllable switch Q2 is connected to a second end of the current limiting resistor R5;

[0113] The processor CPU is used to implement the steps of the brightness adjustment method when executing the computer program.

[0114] For an introduction to the image acquisition device provided in this application, please refer to the above embodiments, which will not be repeated here.

[0115] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0116] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0117] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for adjusting brightness, characterized in that: include: Acquire a current image and determine a brightness value of the current image; Determining whether the brightness value is within a preset brightness range; If the brightness value is within the preset brightness range, outputting the current image; If the brightness value is not within the preset brightness range, the exposure time or brightness state of the light emitter in the image acquisition device is adjusted, the exposure time is positively correlated with the brightness value, and the brightness state includes a bright state and a dark state.

2. The brightness adjustment method according to claim 1, characterized in that: Acquiring a current image and determining a brightness value of the current image, including: Get the RGB image data of the current image; Calculating the brightness value of the current image according to a preset weight, the RGB image data and a brightness relationship equation, wherein the brightness relationship equation is brightness value=a×R+b×G+c×B; Among them, a is the preset weight of red light, b is the preset weight of green light, c is the preset weight of blue light, R is the brightness of red light, G is the brightness of green light, and B is the brightness of blue light.

3. The brightness adjustment method according to claim 1, characterized in that: If the brightness value is not within the preset brightness range, adjusting the exposure time or brightness state of the light emitter in the image acquisition device includes: If the brightness value is less than the minimum boundary value of the preset brightness range, determining whether the exposure time is less than the maximum boundary value of the preset time range; If the exposure time is less than the maximum boundary value of the preset time range, the exposure time of the light emitter in the image acquisition device is extended according to the exposure time algorithm.

4. The brightness adjustment method according to claim 3, characterized in that: If the brightness value is less than the minimum boundary value of the preset brightness range, after determining whether the exposure time is less than the maximum boundary value of the preset time range, the method further includes: If the exposure time is not less than the maximum boundary value of the preset time range, the brightness state of the light emitter in the image acquisition device is adjusted to a bright state.

5. The brightness adjustment method according to claim 1, characterized in that: If the brightness value is not within the preset brightness range, adjusting the exposure time or brightness state of the light emitter in the image acquisition device includes: If the brightness value is greater than the maximum boundary value of the preset brightness range, determining whether the exposure time is greater than the minimum boundary value of the preset time range; If the exposure time is greater than the minimum boundary value of the preset time range, the exposure time of the light emitter in the image acquisition device is shortened according to the exposure time algorithm.

6. The brightness adjustment method according to claim 5, characterized in that: If the brightness value is greater than the maximum boundary value of the preset brightness range, after determining whether the exposure time is greater than the minimum boundary value of the preset time range, the method further includes: If the exposure time is not greater than the minimum boundary value of the preset time range, the brightness state of the light emitter in the image acquisition device is adjusted to a dark state.

7. The brightness adjustment method according to claim 1, characterized in that: Adjust the exposure time of the illuminator in the image acquisition device, including: When the brightness value is not greater than the first brightness value, the exposure time is adjusted to T1=T+n×Tstep; When the brightness value is greater than the first brightness value and less than the second brightness value, the exposure time is adjusted to T1=T+Tstep; When the brightness value is greater than or equal to the second brightness value and less than or equal to the third brightness value, the exposure time is adjusted to T1=T; When the brightness value is greater than the third brightness value and less than the fourth brightness value, the exposure time is adjusted to T1=T-Tstep; When the brightness value is not less than the fourth brightness value, the exposure time is adjusted to T1=Tn×Tstep; Among them, T is the current exposure time, T1 is the adjusted exposure time, the first brightness value, the second brightness value, the third brightness value and the fourth brightness value increase in sequence, and n is a positive integer.

8. The brightness adjustment method according to any one of claims 1 to 7, characterized in that: The image acquisition device includes a processor, a light emitter, a first controllable switch and a current limiting resistor, wherein a first end of the light emitter is connected to a power supply, a second end of the light emitter is connected to a first end of the first controllable switch, a first output end of the processor is connected to a control end of the first controllable switch, a second end of the first controllable switch is connected to a first end of the current limiting resistor, and a second end of the current limiting resistor is grounded; Adjust the exposure time of the illuminator in the image acquisition device, including: The conduction time of the first controllable switch is controlled to adjust the exposure time of the light emitter in the image acquisition device.

9. The brightness adjustment method according to claim 8, characterized in that: The image acquisition device further includes a second controllable switch, a control end of the second controllable switch is connected to the second output end of the processor, a first end of the second controllable switch is connected to the first end of the current limiting resistor, and a second end of the second controllable switch is connected to the second end of the current limiting resistor; Adjust the brightness of the light emitter in the image acquisition device, including: Controlling the second controllable switch to be turned on to adjust the light emitter to a bright state; The second controllable switch is controlled to be turned off to adjust the light emitter to a dark state.

10. An image acquisition device, characterized in that: The invention comprises a processor, a light emitter, a first controllable switch, a second controllable switch and a current limiting resistor, wherein the first end of the light emitter is connected to a power supply, the second end of the light emitter is connected to the first end of the first controllable switch, the first output end of the processor is connected to the control end of the first controllable switch, the second end of the first controllable switch is connected to the first end of the current limiting resistor, the second end of the current limiting resistor is grounded, the control end of the second controllable switch is connected to the second output end of the processor, the first end of the second controllable switch is connected to the first end of the current limiting resistor, and the second end of the second controllable switch is connected to the second end of the current limiting resistor; The processor is used to implement the steps of the brightness adjustment method according to any one of claims 1 to 9 when executing the computer program.

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