In this paper, an intestinal lumen detection method suitable for hardware design is proposed for the locomotive capsule or intelligent Micro-Ball endoscopy. In order to get low complexity as well as relatively high detection precision, a global threshold segmentation algorithm for non-full-shrink lumen and texture based algorithm for full-shrink lumen are proposed. Furthermore, only the red channel of the original Bayer-format image is used in the two algorithms. The computational complexity of the lumen detection method is also given. Experimental results show this method can provide 99.3% precision and 99.0% sensitivity.