CN111031267B - Optic rod bionic vision sensor - Google Patents
Optic rod bionic vision sensor Download PDFInfo
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- CN111031267B CN111031267B CN201911348673.5A CN201911348673A CN111031267B CN 111031267 B CN111031267 B CN 111031267B CN 201911348673 A CN201911348673 A CN 201911348673A CN 111031267 B CN111031267 B CN 111031267B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
- H04N25/77—Pixel circuitry, e.g. memories, A/D converters, pixel amplifiers, shared circuits or shared components
- H04N25/772—Pixel circuitry, e.g. memories, A/D converters, pixel amplifiers, shared circuits or shared components comprising A/D, V/T, V/F, I/T or I/F converters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
- H04N25/75—Circuitry for providing, modifying or processing image signals from the pixel array
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
- H04N25/767—Horizontal readout lines, multiplexers or registers
Abstract
The embodiment of the invention provides a rod bionic vision sensor, which realizes the perception effect on light intensity gradient information in a target light signal by simulating the effect of rod cells, so that the dynamic range of an image of the bionic vision sensor is improved, and the shooting speed is increased. And moreover, a first-class control switch is introduced into each non-target first-class photosensitive device, so that the obtained light intensity gradient information can be controlled, the dynamic range of the image of the bionic vision sensor can be adjusted, and the shooting speed can be adjusted.
Description
Technical Field
The invention relates to the technical field of integrated circuits, in particular to a sighting rod bionic vision sensor.
Background
At present, with the continuous and deep research on image sensors and image processing and recognition algorithms, image sensors dominated by CMOS technology play an increasingly important role in a plurality of application fields such as industrial manufacturing, intelligent transportation, intelligent robots, and the like.
However, the current CMOS image sensor has some defects which are difficult to overcome: the dynamic range of the image acquired by the CMOS sensor is small. Moreover, because the sub-sampling resolution of the CMOS image sensor is low, saturation and distortion are easily generated in scenes where light is strong, weak or high contrast. Meanwhile, since the CMOS image sensor is used to acquire all data in the light reflected by the external target object, image data redundancy may be caused, and the amount of data is large. And great pressure is brought to the post-stage image processing and storage. The imaging speed of a CMOS image sensor for scanning rows (columns) is mainly limited by the Conversion speed of an Analog-to-Digital converter (ADC), and the imaging speed of the CMOS image sensor is increasingly difficult to increase as the requirements for the scale of a photosensitive array increase.
Based on the above problems of the CMOS image sensor in the process of image pickup, it is urgently needed to provide a visual rod bionic vision sensor to solve the problems of image pickup by the CMOS image sensor.
Disclosure of Invention
To overcome or at least partially solve the above problems, embodiments of the present invention provide a rod bionic vision sensor.
The embodiment of the invention provides a rod bionic vision sensor, which comprises: a first sub-circuit comprising a target first-class photo-sensing device, a first current amplifier, a comparator, an adder, and a digital-to-analog converter;
the target first-class photosensitive device is used for acquiring a target optical signal and converting the target optical signal into a first-class current signal;
the target first-class photosensitive device is connected with the first current amplifier, and the first current amplifier is connected with one input end of the comparator; the input end of the adder is respectively connected with a first preset number of non-target first-class photosensitive devices around the target first-class photosensitive devices, and the output end of the adder is connected with the other input end of the comparator;
the output end of the comparator is connected with the digital-to-analog converter, the digital-to-analog converter converts an input specified digital signal into a specified analog signal and outputs the specified analog signal to the first current amplifier or the adder until the output end of the comparator outputs an event pulse signal, the first sub-circuit outputs the specified digital signal, and the specified digital signal is used for representing light intensity gradient information in the target light signal;
and each non-target first-type photosensitive device is connected with a first-type control switch in series.
Preferably, the first sub-circuit further comprises: a tri-state gate circuit;
the tri-state gate circuit is respectively connected with the output end of the comparator and the input end of the digital-to-analog converter;
the tri-state gate circuit is used for outputting the specified digital signal when the output end of the comparator outputs the event pulse signal.
Preferably, the first sub-circuit further comprises: an addressing unit;
the addressing unit is respectively connected with the output end of the comparator and the input end of the digital-to-analog converter;
the addressing unit is used for outputting the specified digital signal when the output end of the comparator outputs the event pulse signal.
Preferably, the control circuit further comprises: a second sub-circuit;
the second sub-circuit comprises the non-target first-type photosensitive device and a second preset number of first-type current mirrors;
each first-class current mirror is respectively connected with a target first-class photosensitive device around the non-target first-class photosensitive device in series.
Preferably, when the illuminance of the target light signal is greater than a first preset value, all the first type control switches are turned on at the same time, and when the intensity of the target light signal is less than a second preset value, all the first type control switches are turned off at the same time.
Preferably, when at least one of the first type control switches is turned on, the designated digital signal output by the first sub-circuit is a differential-mode signal, and when all the first type control switches are turned off, the designated digital signal output by the first sub-circuit is a common-mode signal.
Preferably, the first current amplifier is embodied as a current mirror of the second type.
Preferably, the first sub-circuit further comprises: a second current amplifier;
the second current amplifier is connected between the target first-type photo-sensing device and the first current amplifier.
Preferably, the first sub-circuit further comprises: a storage unit;
the storage unit is used for storing the specified digital signal.
According to the rod bionic vision sensor provided by the embodiment of the invention, the sensing effect on the light intensity gradient information in the target light signal is realized by simulating the action of rod cells, so that the dynamic range of the image of the bionic vision sensor is further improved, and the shooting speed is increased. And moreover, a first-class control switch is introduced into each non-target first-class photosensitive device, so that the obtained light intensity gradient information can be controlled, the dynamic range of the image of the bionic vision sensor can be adjusted, and the shooting speed can be adjusted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an arrangement manner of a pixel array in a bionic vision sensor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an arrangement manner of a pixel array in a bionic vision sensor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first sub-circuit in a rod-of-sight bionic vision sensor according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a connection relationship between a target first-type photosensitive device in a first sub-circuit of a rod bionic vision sensor and each non-target first-type photosensitive device around the target first-type photosensitive device according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a variation of a specific digital signal input to a digital-to-analog converter in a rod-of-sight bionic vision sensor according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a rod-of-sight bionic vision sensor according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a rod-of-sight bionic vision sensor according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a second sub-circuit in a rod-of-sight bionic vision sensor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the invention provides a rod bionic vision sensor, which comprises: a first sub-circuit comprising a target first-class photo-sensing device, a first current amplifier, a comparator, an adder, and a digital-to-analog converter;
the target first-class photosensitive device is used for acquiring a target optical signal and converting the target optical signal into a first-class current signal;
the target first-class photosensitive device is connected with the first current amplifier, and the first current amplifier is connected with one input end of the comparator; the input end of the adder is respectively connected with a first preset number of non-target first-class photosensitive devices around the target first-class photosensitive devices, and the output end of the adder is connected with the other input end of the comparator;
the output end of the comparator is connected with the digital-to-analog converter, the digital-to-analog converter converts an input specified digital signal into a specified analog signal and outputs the specified analog signal to the first current amplifier or the adder until the output end of the comparator outputs an event pulse signal, the first sub-circuit outputs the specified digital signal, and the specified digital signal is used for representing light intensity gradient information in the target light signal;
and each non-target first-type photosensitive device is connected with a first-type control switch in series.
Specifically, in the embodiment of the present invention, the pixel array of the bionic vision sensor includes a first type photosensitive device and a second type photosensitive device. The first photosensitive device is used for acquiring a target optical signal and converting the target optical signal into a first current signal, and the second photosensitive device is used for acquiring a target optical signal, extracting an optical signal of a specified frequency band from the target optical signal and converting the optical signal of the specified frequency band into a second current signal.
The target optical signal refers to an optical signal reflected by the surface of a target object, and the target optical signal may be directly irradiated on the first type photosensitive device or the second type photosensitive device, may be irradiated on the first type photosensitive device or the second type photosensitive device through a collimating lens, or may be irradiated on the first type photosensitive device or the second type photosensitive device through a cover. The wavelength band of the target light signal may be a visible light wavelength band, i.e., the target light signal may be a visible light signal. The target object is an object to be observed by human eyes, and may be a real object, an image, or another form.
The first type of photosensitive device may be a Photo-Diode (PD) or other devices capable of converting an optical signal into a current signal, which is not specifically limited in the embodiment of the present invention. It should be noted that the first type of photosensitive device does not include a filter. The second type of photosensitive device is used for sensing a color component in the target optical signal, and may specifically include a PD and a Color Filter (CF) disposed on the PD, and an image finally obtained by the bionic vision sensor is a color image. The CF is used for acquiring a target optical signal, extracting an optical signal of a specified frequency band from the target optical signal, and the PD converts the optical signal of the specified frequency band into a second-class current signal. The color filter may specifically be a filter or a lens for transmitting an optical signal of a specified wavelength. When the color filter is a lens, a Bayer lens can be selected, and other types of lenses can be selected. The color filter may be divided into a red color filter, a blue color filter and a green color filter according to the wavelength of the transmitted light signal, and the transmitted light signal is a red light signal, a blue light signal and a green light signal, respectively.
It should be noted that the second type of photosensitive device may also be directly composed of photodiodes, and the functions of obtaining a target optical signal, extracting an optical signal of a specified wavelength band from the target optical signal, and converting the optical signal of the specified wavelength band into a second type of current signal are realized by selecting photodiodes with different response curves.
The rod bionic vision sensor provided by the embodiment of the invention is mainly used for simulating the function of rod cells in human eyes, so that the rod bionic vision sensor can be called a rod cell circuit. The rod cells can be equivalent to a first type photosensitive device in the bionic visual sensor, and can be divided into excitatory rod cells and inhibitory rod cells, accordingly, the first type photosensitive device can comprise a target first type photosensitive device and a non-target first type photosensitive device, the excitatory rod cells can be equivalent to a target first type photosensitive device, and the inhibitory rod cells can be equivalent to a non-target first type photosensitive device.
In the bionic visual sensor provided in the embodiment of the present invention, the schematic structural diagram of the arrangement mode of the pixel array may be as shown in fig. 1, where the pixel array includes a first type of photosensitive device 11 and a second type of photosensitive device 12, a target first type of photosensitive device in the first type of photosensitive device 11 is marked as "+", and a non-target first type of photosensitive device is marked as "-". The second type of photo-sensing device 12 containing a red color filter is labeled "R", the second type of photo-sensing device 12 containing a blue color filter is labeled "B", and the second type of photo-sensing device 12 containing a green color filter is labeled "G". And 4 non-target first-type photosensitive devices and 4 second-type photosensitive devices are arranged around each target first-type photosensitive device, and 4 target first-type photosensitive devices and 4 second-type photosensitive devices are arranged around each non-target first-type photosensitive device.
The schematic structural diagram of the arrangement of the pixel array may also be as shown in fig. 2, where the arrangement includes a first type of photosensitive device 21 and a second type of photosensitive device 22, a target first type of photosensitive device in the first type of photosensitive device 21 is marked as "+" and a non-target first type of photosensitive device is marked as "-". The second type of photosensitive device 22 containing a red color filter is labeled "R", the second type of photosensitive device 22 containing a blue color filter is labeled "B", and the second type of photosensitive device 22 containing a green color filter is labeled "G". And 6 non-target first-type photosensitive devices and 2 second-type photosensitive devices are arranged around each target first-type photosensitive device, 2 target first-type photosensitive devices and 4 second-type photosensitive devices are arranged around each non-target first-type photosensitive device, or 4 target first-type photosensitive devices and 2 second-type photosensitive devices are arranged around each non-target first-type photosensitive device. The arrangement of the pixel array may be in other forms, which is not particularly limited in the embodiment of the present invention. The following description will be given only by taking the arrangement of the pixel array shown in fig. 1 as an example.
Since the first type of light sensing device may comprise a target first typeThe photosensitive device, and thus the rod-optic biomimetic visual sensor, specifically includes a first sub-circuit for controlling the target first type photosensitive device. The first sub-circuit may specifically be a first type of current-mode active pixel sensor circuit. As shown in fig. 3, the first sub-circuit includes a target first photosensitive device 31, a first current amplifier 32, a comparator 33, an adder 34, and a Digital-to-Analog Converter (DAC) 35, the target first photosensitive device 31 is connected to the first current amplifier 32, and the first current amplifier 32 is used for converting a first current signal I obtained by converting the target first photosensitive device 31 into a first current signal I0And amplifying by a first preset number, namely the amplification factor is equal to the number of the non-target first-type photosensitive devices around the target first-type photosensitive device 31, so as to ensure that the sum of the amplified first-type current signals and the current signals converted by the first preset number of the non-target second-type photosensitive devices around the target first-type photosensitive device 31 is in the same order of magnitude. The pixel array shown in fig. 1 corresponds to a first predetermined number of 4, and the pixel array shown in fig. 2 corresponds to a first predetermined number of 6. In the embodiment of the present invention, the first preset number is equal to 4 as an example.
It should be noted that, in the first type of photosensitive device provided in the embodiments of the present invention, no Color Filter (CF) exists, and thus the response band of the photosensitive device is related to itself. Generally, the rod bionic vision sensor controls the image signal output by the bionic vision sensor to be a gray signal.
The first current amplifier 32 is connected to one input terminal of the comparator 33, and inputs the amplified first-type current signal to the comparator 33. The 4 non-target first type photo-sensitive devices surrounding the target first type photo-sensitive device 31 are each connected to an input of an adder 34. Since each non-target first type photosensitive device is connected in series with a first type control switch. In the embodiment of the present invention, only the first-type control switch M connected in series with each non-target first-type photosensitive device is shown1、M2、M3、M4. Wherein, the first control switch can be MOS tube, all the first control switches can be conducted at the same time,the first and second switches may be turned off simultaneously, or may be turned off partially, and may be specifically set according to needs, which is not specifically limited in the embodiment of the present invention.
As shown in fig. 4, the connection control between the target first-type photosensitive device and each surrounding non-target first-type photosensitive device provided in the embodiment of the present invention is realized by one MOS transistor. When the MOS tube is conducted, the target first-class photosensitive device is connected with the non-target first-class photosensitive device through the conducted MOS tube, and when the MOS tube is disconnected, the target first-class photosensitive device is disconnected with the non-target first-class photosensitive device.
The on and off of the first type control switch can be set according to requirements, so that the first type control switch is a configurable first type control switch. The first-class control switch controls whether the non-target first-class photosensitive device around the target first-class photosensitive device is effective or not, so that the first-class control switch can be used as a 1-bit convolution core with configurable parameters to perform convolution operation on a current signal converted by the first-class photosensitive device, the completion speed is high, the 1-bit convolution operation in a pixel can be completed, and high-speed feature extraction is realized.
An output of the adder 34 is connected to another input of the comparator 33. 4 current signals I converted by non-target first-class photosensitive devices1、I2、I3、I4Are inputted to the adder 34, and the adder 34 adds I1、I2、I3、I4The summation is performed, and the summation result is input to the comparator 33. The amplified current signals of the first type are compared by a comparator 33 with the result of the summation by an adder 34. If the comparison result of the current time is consistent with the comparison result of the current time, the DAC35 converts the input designated digital signal into the designated analog signal, and outputs the designated analog signal to the first current amplifier 32 or the adder 34, and the designated analog signal output to the first current amplifier 32 is marked as IDA2The designated analog signal output to the adder 34 is denoted as IDA1. After being output, the signals are compared by a comparator 33, and when the comparison results of the previous moment and the next moment are oppositeThe output end of the comparator 33 outputs the event pulse signal, that is, the comparator 33 is in an edge triggered state, and at this time, the first sub-circuit outputs the designated digital signal, and the designated digital signal is used for representing the light intensity gradient information in the target light signal. Wherein the prescribed digital signal output by the first sub-circuit is a digital signal represented by 0 and 1.
The designated digital signal input to the DAC35 may be a manually input designated digital signal that periodically increases, and the change form of the designated digital signal is specifically as shown in fig. 5, where the designated digital signal is specifically increased in a step-like manner with time, and when a certain time N × step occurs, the designated digital signal takes a value of Δ I, the comparator 33 outputs an event pulse signal, that is, when the comparator 33 is in an edge triggered state, Δ I at this time is used as the output of the first sub-circuit. Wherein, N is the number of steps passed before, and step is the time length of each step.
It should be noted that the adder in the embodiment of the present invention may be an actual device, or may be a functional module for implementing an adding function, for example, by converting the current signal I1、I2、I3、I4The lines are combined into one line for realization. The first current amplifier may also be an actual device, or may also be a functional module that implements a current amplification function, which is not specifically limited in the embodiment of the present invention.
According to the arrangement mode of the pixel array, multiplexing is achieved between the target first-class photosensitive device and the non-target first-class photosensitive device in the rod bionic vision sensor. For example, in the pixel array shown in fig. 1, two non-target first-type photosensitive devices are shared between any two adjacent target first-type photosensitive devices, and each non-target second-type photosensitive device is shared by four surrounding target first-type photosensitive devices, so that multiplexing of the first-type photosensitive devices is realized.
The embodiment of the invention provides a rod bionic vision sensor, which realizes the perception effect on light intensity gradient information in a target light signal by simulating the action of rod cells, so that the dynamic range of an image of the bionic vision sensor is improved, and the shooting speed is increased. And moreover, a first-class control switch is introduced into each non-target first-class photosensitive device, so that the obtained light intensity gradient information can be controlled, the dynamic range of the image of the bionic vision sensor can be adjusted, and the shooting speed can be adjusted.
On the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, the first sub-circuit further includes: a tri-state gate circuit;
the tri-state gate circuit is respectively connected with the output end of the comparator and the input end of the digital-to-analog converter;
the tri-state gate circuit is used for outputting the specified digital signal when the output end of the comparator outputs the event pulse signal.
Specifically, the rod bionic vision sensor provided in the embodiment of the present invention further includes, in the first sub-circuit: fig. 6 shows a specific structural schematic diagram of a three-state gate circuit, which is the rod-of-sight bionic vision sensor provided in the embodiment of the present invention. In fig. 6, circuit configuration 61 simulates a rod cell circuit, and circuit configuration 62 simulates a ganglion cell and a bipolar cell. Vcc is the power supply of the control circuit, the target first type photosensitive device 63 is connected with Vcc, and the first type current signal I converted by the target first type photosensitive device 630Amplified by 4 times by a current mirror 64 and connected with the input end of a Comparator (CP) 66, and the current signals converted by 4 non-target first-type photosensitive devices around the target first-type photosensitive device 63 are I1、I2、I3、I4. The 4 non-target first type photosensitive devices surrounding the target first type photosensitive device 63 are not shown in fig. 6, only the first type control switch M connected in series with each non-target first type photosensitive device is shown1、M2、M3、M4。I1、I2、I3、I4The lines are combined into one line to realize the function of the adder. One line of the combination is connected to the input of CP 66. The amplified first class current signal and I are amplified by CP661、I2、I3、I4And comparing the sums. When in useIf the comparison result of the previous time is consistent with that of the current time, no output is made, the DAC65 converts the input designated digital signal into a designated analog signal, and outputs the designated analog signal to the target first-type photosensitive device 63 or a non-target first-type photosensitive device. After the output, the comparison is performed through the CP66, and when the comparison result of the previous time and the next time is opposite, the event pulse signal is output from the output terminal of the CP66, that is, the CP66 is in an edge triggered state, and at this time, the specified digital signal is output by the tri-state gate 67.
In fig. 6, a capacitor 68 is further connected between CP66 and ground, and the capacitor 68 may be an actual capacitor or a parasitic capacitor virtualized in the first sub-circuit, which is not specifically limited in the embodiment of the present invention.
On the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, the first sub-circuit further includes: and a memory unit. The storage unit is connected with the output end of the tri-state gate circuit and used for storing the designated digital signal output by the first sub-circuit. The storage unit may be specifically a register, a latch, an SRAM, a DRAM, a memristor, etc. Taking a register as an example, the number of bits of the register can be selected according to the precision of the DAC35, and a 4-bit register can be selected in this embodiment of the present invention.
As shown in fig. 7, on the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, the first sub-circuit further includes: the cell 69 is addressed.
The addressing unit 69 is connected with the output terminal of the CP68 and the input terminal of the DAC65 respectively;
the addressing unit 69 is used for outputting a designated digital signal when the output end of the CP68 outputs an event pulse signal, i.e., the CP68 is in an edge triggered state. That is, the tri-state gate 67 in FIG. 6 can be replaced with an addressing unit resulting in the structure shown in FIG. 7.
On the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, the first sub-circuit further includes: and a memory unit. The storage unit is connected to the output of the addressing unit 69 for storing the specified digital signal output by the first sub-circuit. The storage unit may be specifically a register, a latch, an SRAM, a DRAM, a memristor, etc. Taking a register as an example, the number of bits of the register can be selected according to the precision of the DAC35, and a 4-bit register can be selected in this embodiment of the present invention.
On the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, the control circuit further includes: a second sub-circuit;
the second sub-circuit comprises the non-target first-type photosensitive device and a second preset number of first-type current mirrors;
each first class current mirror is respectively connected with a second class photosensitive device around the non-target first class photosensitive device in series, and the second class photosensitive device is used for acquiring the target optical signal, extracting an optical signal of a specified frequency band from the target optical signal and converting the optical signal of the specified frequency band into a second class current signal.
Specifically, as shown in fig. 8, the rod-of-sight bionic vision sensor provided in the embodiment of the present invention further includes a second sub-circuit for controlling the non-target first-type photosensitive device. The second sub-circuit may specifically be a second type of current-mode active pixel sensor circuit. The second sub-circuit comprises a non-target first type photo-sensing device 71 and 4 first type current mirrors 72, 73, 74, 75. Each first-class current mirror is respectively connected with a target first-class photosensitive device around the non-target first-class photosensitive device 71 in series, namely, a current signal I obtained by converting the non-target first-class photosensitive device 711Are replicated into 4I1The first sub-circuit for each target first-type photosensitive device around the non-target first-type photosensitive device 71 acquires the light intensity gradient information in the target optical signal to realize multiplexing of the non-target first-type photosensitive devices.
On the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, when the illuminance of the target light signal is greater than a first preset value, all the first type control switches are turned on at the same time, and when the intensity of the target light signal is less than a second preset value, all the first type control switches are turned off at the same time.
Specifically, all the first type control switches are independent of each other, one of the first type control switches is turned on and off without affecting the other, the number of the first type control switches to be turned on and the number of the first type control switches to be turned off can be selected according to needs, and the first type control switches can be turned on or turned off completely. In the embodiment of the invention, in order to obtain a better effect, all the first type control switches can be simultaneously turned on when the illuminance of the target optical signal is greater than the first preset value, and all the first type control switches can be simultaneously turned off when the intensity of the target optical signal is less than the second preset value. The first preset value and the second preset value can be determined according to the type and the parameters of the photosensitive device and the ambient light illumination. For example, the first preset value may be 10 lux, and the second preset value may be 50 lux. That is, when the illuminance of the target optical signal is greater than the first preset value, it is indicated as strong illumination, at this time, to prevent the DAC and the comparator in the rod-of-sight bionic vision sensor from being saturated, all the first-type control switches are turned on simultaneously, at this time, all the non-target first-type photosensitive devices are effective, and the designated digital signal output by the first sub-circuit is a differential-mode signal, so that the bionic vision sensor can obtain the edge information of the image. When the intensity of the target light signal is smaller than a second preset value, the target light signal is indicated as weak illumination, and a first-class current signal I is obtained by converting a target first-class photosensitive device at the moment1Are small. Therefore, all the first type control switches are turned off simultaneously, all the non-target first type photosensitive devices are invalid at the moment, and the designated digital signals output by the first sub-circuit are common-mode signals, so that the bionic vision sensor can obtain the original information of the image. The rod-of-sight bionic vision sensor provided by the embodiment of the invention better simulates the Gap Junction connection of human eyes, thereby realizing the improvement of the image dynamic range of the bionic vision sensor.
It should be noted that when the illuminance of the target light signal is greater than the first preset value and less than the second preset value, it indicates that the illuminance is moderate, and at this time, all the first-type control switches may be partially turned on and partially turned off. When at least one first-class control switch is switched on, the designated digital signals output by the first sub-circuit are differential mode signals, and when all the first-class control switches are switched off, the designated digital signals output by the first sub-circuit are common mode signals.
On the basis of the above embodiments, in the rod bionic vision sensor provided in the embodiments of the present invention, the first current amplifier is specifically a second class current mirror.
Specifically, as shown in fig. 6 and 7, the current mirror 64 is a second type current mirror. The second class is used herein primarily to distinguish from the first class of current mirrors and is not meant to be limiting.
On the basis of the above embodiment, in the rod bionic vision sensor provided in the embodiment of the present invention, the first sub-circuit further includes: a second current amplifier;
the second current amplifier is connected between the target first-type photo-sensing device and the first current amplifier.
Specifically, in the embodiment of the present invention, since the current signal converted by the first type photosensitive device is smaller, a second current amplifier may be connected between the first current amplifier and the target first type photosensitive device, and is used for performing preliminary amplification on the first type current signal converted by the target first type photosensitive device. The second current amplifier may be an actual device, or may be a functional module that implements a current amplification function, which is not specifically limited in the embodiment of the present invention. Correspondingly, a second current amplifier is also arranged between the non-target first-type photosensitive device around the target first-type photosensitive device and the adder, so that the current signal of the branch where each non-target first-type photosensitive device is located before the adder and the current signal of the branch where the target first-type photosensitive device is located are in the same magnitude.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A rod biomimetic vision sensor, comprising: a first sub-circuit comprising a target first-class photo-sensing device, a first current amplifier, a comparator, an adder, and a digital-to-analog converter;
the target first-class photosensitive device is used for acquiring a target optical signal and converting the target optical signal into a first-class current signal;
the target first-class photosensitive device is connected with the first current amplifier, and the first current amplifier is connected with one input end of the comparator; the input end of the adder is respectively connected with a first preset number of non-target first-class photosensitive devices around the target first-class photosensitive devices, and the output end of the adder is connected with the other input end of the comparator;
the output end of the comparator is connected with the digital-to-analog converter, the digital-to-analog converter converts an input specified digital signal into a specified analog signal and outputs the specified analog signal to the first current amplifier or the adder until the output end of the comparator outputs an event pulse signal, the first sub-circuit outputs the specified digital signal, and the specified digital signal is used for representing light intensity gradient information in the target light signal;
each non-target first-type photosensitive device is connected with a first-type control switch in series;
when the comparator is in an edge triggering state, the comparison result of the previous moment and the comparison result of the next moment are opposite, and the event pulse signal is output by the output end of the comparator.
2. The rod biomimetic vision sensor of claim 1, wherein the first sub-circuit further comprises: a tri-state gate circuit;
the tri-state gate circuit is respectively connected with the output end of the comparator and the input end of the digital-to-analog converter;
the tri-state gate circuit is used for outputting the specified digital signal when the output end of the comparator outputs the event pulse signal.
3. The rod biomimetic vision sensor of claim 1, wherein the first sub-circuit further comprises: an addressing unit;
the addressing unit is respectively connected with the output end of the comparator and the input end of the digital-to-analog converter;
the addressing unit is used for outputting the specified digital signal when the output end of the comparator outputs the event pulse signal.
4. The rod biomimetic vision sensor of claim 1, further comprising: a second sub-circuit;
the second sub-circuit comprises the non-target first-class photosensitive device and a second preset number of first-class current mirrors;
each first-class current mirror is respectively connected with a target first-class photosensitive device around the non-target first-class photosensitive device in series.
5. A rod biomimetic vision sensor according to any one of claims 1-4, wherein when the illuminance of the target light signal is greater than a first preset value, all of the first type control switches are turned on simultaneously, and when the intensity of the target light signal is less than a second preset value, all of the first type control switches are turned off simultaneously.
6. A rod biomimetic vision sensor according to any of claims 1-4, wherein the designated digital signal output by the first sub-circuit is a differential mode signal when at least one of the first type control switches is on, and a common mode signal when all of the first type control switches are off.
7. A rod biomimetic vision sensor according to any of claims 1-4, wherein the first current amplifier is specifically a second type of current mirror.
8. A rod biomimetic vision sensor according to any of claims 1-4, wherein the first sub-circuit further comprises: a second current amplifier;
the second current amplifier is connected between the target first-type photo-sensing device and the first current amplifier.
9. A rod biomimetic vision sensor according to any of claims 1-4, wherein the first sub-circuit further comprises: a storage unit;
the storage unit is used for storing the specified digital signal.
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| CN201911348673.5A CN111031267B (en) | 2019-12-24 | 2019-12-24 | Optic rod bionic vision sensor |
| PCT/CN2020/073527 WO2021128534A1 (en) | 2019-12-24 | 2020-01-21 | Rod bionic vision sensor |
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| CN112584016B (en) * | 2020-12-03 | 2022-07-19 | 北京灵汐科技有限公司 | Infrared bionic vision sensor |
| CN112532898B (en) * | 2020-12-03 | 2022-09-27 | 北京灵汐科技有限公司 | Bimodal infrared bionic vision sensor |
| CN112600996B (en) * | 2020-12-03 | 2022-12-09 | 清华大学 | Ultraviolet bionic vision sensor |
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