GB2575137A - An image sensor and an image dynamic information processing method - Google Patents
An image sensor and an image dynamic information processing method Download PDFInfo
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- H—ELECTRICITY
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- 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
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- H04N5/00—Details of television systems
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Abstract
The invention relates to an image dynamic information processing method that allows dynamic target extraction more quickly. It involves converting an optical signal into an analog electrical signal through a photoelectric conversion unit in a pixel then outputting it in a digital form for storage in a memory array according to a preset order. A data operation is started by a digital processing circuit after each update of the signal in the memory array and the operation is performed on a current frame signal and an adjacent previous frame signal to obtain time domain and spatial changes of a target scene.
Description
The pixel array converts s received optica! signa! into toe current frame pixel analog: signa!, then outputs toe current frame pixel analog signa! to the current frame pixel buffer channel and outputs the previous frame pixel analog signal stored in the pixel storage stto-raodnie to toe previous frame pixel btrfter channel by triggering the pixel readout sub-module
302
The pixel storage sub-module acquires and stores the ament frame pixel analog signal output by the photoelectric conversion sub-moduie
The current frame pixel buffer channel b and the previous frame pixel buffer channel a input toe current frame pixel analog signal and the previous frame pixel analog signal to toe analog signal processing module B by means of rail exposure, respectively, and obtain the current frame pixel digits! signal corresponding to the current frame pixel analog signa! and the previous frame pixel digital signa! corresponding io the previous frame pixel analog signa!
303
The memory array acquires toe current frame pixel digits! signa! and the previous frame pixel digital signal and stores the current frame pixel digital signal and toe previous frame pixel digits! signa! in corresponding memories, respectively, according to row sad column information of the current frame pixel digital signal and the previous frame pixel digital signal m the pixel array
The digital processing module performs a difference operation on toe current frame pixel dotal signal of toe current frame pixel sequence memory in the memory module and toe •jrevious frame pixel digital signa! of the previous frame pixel sequence memory in toe same memory module to obtain a motkm determination parameter
306
Perform a difference operation on the current frame pixel digital signal and the previous frame pixel digital signals in the same memory module and adjacent memory modules, respectively, and determine motion vector information of the moving terget according to the difference between the minimum value among ail of the obtained motion determination parameters and a director determination threshold
Fig.3
4/4
Fig.4
Previous Frame Signal Bus
| SigPi | sigp2 | β......β | sigpM | SigPi | SigP2 |
Current Frame Signal Bus
| SigCM | SigCi | —£—S-- | SigCw-i | SigCy 1 SigCi |
Time Axis
Fig.5
Fig.6
AN IMAGE SENSOR AND AN IMAGE DYNAMIC
INFORMATION PROCESSING METHOD
Technical Field
The present invention relates to the field of image processing, and in particular, to an image sensor and an image dynamic information processing method.
Technical Background
An image sensor is a sensor that records the intensity of light. At present, the most commonly used CMOS image sensor converts an optical signal into an electrical signal through a pixel, and outputs and stores it in a digital form, thus photographs are taken. At present, almost all image sensors perform image acquisition in a frame-by-frame manner, and subsequent image processing also processes and analyzes data frame by frame.
In a dynamic target capture application, the image sensor needs to quickly capture at a high frame rate, and the captured data is sent to a processor for data processing. Moreover, with the development of machine vision and autonomous robot technology, it is difficult to have processing apparatuses supporting a large number of operations in mobile devices or autonomous devices.
An architecture of “an image sensor + an image processor” is adopted in the existing dynamic information capture image processing. First, a CMOS image sensor product outputs the captured image data frame by frame, and all the processing work is done in a subsequent image processor or computer. However, such a way of processing results in a technical problem that the processing speed of the image processor will be reduced due to high-intensity image processing tasks in applications such as miniaturization and low power consumption.
Summary of the Invention
The present invention provides an image sensor and an image dynamic information processing method, for solving the technical problem in the existing dynamic information capture image processing architecture that the processing speed of the image processor will be reduced due to high-intensity image processing tasks in applications such as miniaturization and low power consumption.
The present invention provides an image sensor, comprising: a pixel array, an analog signal processing module, a memory array, a digital processing module, and a main control chip;
an output terminal of said pixel array being electrically connected to an input terminal of said analog signal processing module;
an output terminal of said analog signal processing module being communicatively connected to an input terminal of said memory array;
an output terminal of said memory array being communicatively connected to said digital processing module;
said main control chip being communicatively connected to control terminals of said pixel array, said analog signal processing module, said memory array and said digital processing module, respectively;
said pixel array specifically including N*M unit pixels and pixel buffer channels, wherein a positive integer M represents a total number of rows of said pixel array, and a positive integer N represents a total number of columns of said pixel array; said pixel buffer channels specifically including a previous frame pixel buffer channel and a current frame pixel buffer channel;
said unit pixel specifically including: a photoelectric conversion sub-module, a pixel storage sub-module, and a pixel readout sub-module;
said pixel storage sub-module being provided for storing an analog electrical signal of a previous frame pixel;
said pixel readout sub-module being provided for outputting a previous frame pixel analog signal stored in the pixel storage sub-module to said previous frame pixel buffer channel and outputting a current frame pixel analog signal obtained by the photoelectric conversion sub-module to said current frame pixel buffer channel;
said analog signal processing module including an analog-to-digital conversion sub-module;
said memory array specifically including N memory modules, said memory module specifically including a current pixel sequence memory, a first previous frame pixel sequence memory, a second previous frame pixel sequence memory, and a third previous frame pixel sequence memory;
wherein, said pixel array outputs the current frame pixel analog signal acquired at the current time and a previous frame pixel analog signal acquired at a previous time to said analog signal processing module for data conversion by means of roll exposure, obtaining a current frame pixel digital signal corresponding to said current frame pixel analog signal and a previous frame pixel digital signal corresponding to said previous frame pixel analog signal;
the memory array acquiring said current frame pixel digital signal and said previous frame pixel digital signal, and storing said current frame pixel digital signal and said previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of said current frame pixel digital signal and said previous frame pixel digital signal in said pixel array, wherein said current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and said previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively;
said digital processing module acquires said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performs a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of a moving target.
Preferably, said analog signal processing module further comprises: a signal amplification sub-module and a noise reduction filter sub-module; wherein an input terminal of said signal amplification sub-module is connected to the output terminal of said pixel array;
an output terminal of the signal amplification sub-module is connected to an input terminal of said noise reduction filter sub-module;
an output terminal of said noise reduction filter sub-module is connected to an input terminal of said analog-to-digital conversion sub-module.
The present invention provides an image dynamic information processing method, which is applied to the image sensor as described above, comprising:
after converting a received optical signal into the current frame pixel analog signal, the pixel array outputting said current frame pixel analog signal to the current frame pixel buffer channel, and outputting the previous frame pixel analog signal stored in the pixel storage sub-module to the previous frame pixel buffer channel by triggering the pixel readout sub-module;
said current frame pixel buffer channel and said previous frame pixel buffer channel inputting said current frame pixel analog signal and said previous frame pixel analog signal to the analog signal processing module by means of roll exposure, respectively, and obtaining the current frame pixel digital signal corresponding to said current frame pixel analog signal and the previous frame pixel digital signal corresponding to said previous frame pixel analog signal;
the memory array acquiring said current frame pixel digital signal and said previous frame pixel digital signal, and storing said current frame pixel digital signal and said previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of said current frame pixel digital signal and said previous frame pixel digital signal in said pixel array, wherein said current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and said previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively;
said digital processing module acquires said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performs a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of a moving target.
Preferably, the image dynamic information processing method further comprises, after outputting the previous frame pixel analog signal stored in the pixel storage sub-module to the previous frame pixel buffer channel:
said pixel storage sub-module acquiring and storing the current frame pixel analog signal output by said photoelectric conversion sub-module.
Preferably, said digital processing module acquiring said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performing a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of the moving target, specifically comprises:
said digital processing module performing a difference operation on the current frame pixel digital signal of said current frame pixel sequence memory in said memory module and the previous frame pixel digital signal of said previous frame pixel sequence memory in the same memory module to obtain a motion determination parameter;
if said motion determination parameter is greater than a motion determination threshold, performing the next step;
performing a difference operation on said current frame pixel digital signal and the previous frame pixel digital signals in the same memory module and adjacent memory modules, and determining motion vector information of the moving target according to the difference between the minimum value among all of the obtained motion determination parameters and a direction determination threshold.
As can be seen from the above technical solutions, the present invention has the following advantages:
The present invention provides an image sensor, comprising: a pixel array, an analog signal processing module, a memory array, a digital processing module, and a main control chip; an output terminal of said pixel array being electrically connected to an input terminal of said analog signal processing module; an output terminal of said analog signal processing module being communicatively connected to an input terminal of said memory array; an output terminal of said memory array being communicatively connected to said digital processing module; said main control chip being communicatively connected to control terminals of said pixel array, said analog signal processing module, said memory array and said digital processing module, respectively; said pixel array specifically including N*M unit pixels and pixel buffer channels; wherein a positive integer M represents a total number of rows of said pixel array, and a positive integer N represents a total number of columns of said pixel array; said pixel buffer channels specifically including a previous frame pixel buffer channel and a current frame pixel buffer channel; said unit pixel specifically including a photoelectric conversion sub-module, a pixel storage sub-module, and a pixel readout sub-module; said pixel storage sub-module being provided for storing an analog electrical signal of a previous frame pixel; said pixel readout sub-module being provided for outputting a previous frame pixel analog signal stored in the pixel storage sub-module to said previous frame pixel buffer channel and outputting a current frame pixel analog signal obtained by the photoelectric conversion sub-module to said current frame pixel buffer channel; said analog signal processing module including an analog-to-digital conversion sub-module; said memory array specifically including N memory modules, said memory module specifically including a current pixel sequence memory, a first previous frame pixel sequence memory, a second previous frame pixel sequence memory, and a third previous frame pixel sequence memory; wherein, said pixel array outputs the current frame pixel analog signal acquired at the current time and a previous frame pixel analog signal acquired at a previous time to said analog signal processing module for data conversion by means of roll exposure, obtaining a current frame pixel digital signal corresponding to said current frame pixel analog signal and a previous frame pixel digital signal corresponding to said previous frame pixel analog signal; the memory array acquiring said current frame pixel digital signal and said previous frame pixel digital signal, and storing said current frame pixel digital signal and said previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of said current frame pixel digital signal and said previous frame pixel digital signal in said pixel array, wherein said current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and said previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively; said digital processing module acquires said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performs a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of a moving target.
The system according to the present invention converts an optical signal into an analog electrical signal through a photoelectric conversion unit in a pixel, and then outputs it in a digital form and stores it in a memory array according to a preset order. A data operation is started by a digital processing circuit after each update of the signal in the memory array, and the operation is performed on a current frame signal and an adjacent previous frame signal so as to obtain time domain and spatial changes of a target scene. After a pixel frame is acquired by using the image sensor, the system according to the present invention performs preliminary image processing on the acquired pixel frame by the image sensor by combining the image sensor with a digital processing module, so that subsequent processing devices can complete dynamic target extraction more quickly, thereby improving the overall processing efficiency, and solving such a technical problem that the processing speed of an image processor will be reduced due to high-intensity image processing tasks in applications such as miniaturization and low power consumption.
Brief Description of the Drawings
In order to more clearly illustrate the technical solutions in embodiments of the present invention or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly described below. Obviously, the accompanying drawings in the following description only show some exemplary embodiments of the present invention, and other illustrations can be obtained by a person ordinarily skilled in the art from these accompanying drawings without any inventive efforts.
Fig. 1 is a schematic structural view of an image sensor provided by the present invention;
Fig. 2 is a schematic structural view of a unit pixel of an image sensor provided by the present invention;
Fig. 3 is a schematic flowchart diagram of an embodiment of an image dynamic information processing method provided by the present invention;
Fig. 4 is a schematic diagram of timings of reading out rows of pixels in an image dynamic information processing method provided by the present invention;
Fig. 5 is a schematic diagram of a signal readout sequence on a previous frame and current frame signal bus in an image dynamic information processing method provided by the present invention;
Fig. 6 is a schematic diagram of a signal sequence of a memory array in an image dynamic information processing method provided by the present invention.
Detailed Description of the Embodiment
Embodiments of the present invention provide an image sensor and an image dynamic information processing method, for solving the technical problem in the existing dynamic information capture image processing architecture that the processing speed of the image processor will be reduced due to high-intensity image processing tasks in applications such as miniaturization and low power consumption.
In order to make the objects, features and advantages of the present invention more apparent and easy to understand, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the accompanying drawings according to the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person ordinarily skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
With reference to Fig. 1 and Fig. 2, the present invention provides an image sensor, comprising: a pixel array A, an analog signal processing module B, a memory array C, a digital processing module D, and a main control chip E;
an output terminal of the pixel array A is electrically connected to an input terminal of the analog signal processing module B;
an output terminal of the analog signal processing module B is communicatively connected to an input terminal of the memory array C;
an output terminal of the memory array C is communicatively connected to the digital processing module D;
the main control chip E is communicatively connected to control terminals of the pixel array A, the analog signal processing module B, the memory array C and the digital processing module D, respectively;
the pixel array A specifically includes N*M unit pixels and pixel buffer channels, wherein a positive integer M represents a total number of rows of the pixel array A, and a positive integer N represents a total number of columns of the pixel array A;
the pixel buffer channels specifically include a previous frame pixel buffer channel a and a current frame pixel buffer channel b;
the unit pixel specifically includes: a photoelectric conversion sub-module A1, a pixel storage sub-module A2, and a pixel readout sub-module A3;
the pixel storage sub-module A2 is used for storing an analog electrical signal of a previous frame pixel;
the pixel readout sub-module A3 is used for outputting a previous frame pixel analog signal stored in the pixel storage sub-module A2 to the previous frame pixel buffer channel a and outputting a current frame pixel analog signal obtained by the photoelectric conversion sub-module A1 to said current frame pixel buffer channel b.
The analog signal processing module B includes an analog-to-digital conversion sub-module;
the memory array C specifically includes N memory modules, the memory module specifically including a current pixel sequence memory, a first previous frame pixel sequence memory, a second previous frame pixel sequence memory, and a third previous frame pixel sequence memory;
It should be noted that, Pixel Array A: the pixel array A is composed of N*M pixels, and is used for converting an optical signal into an analog electrical signal, wherein each pixel includes a photoelectric conversion unit, a storage unit, and a readout unit, wherein the photoelectric conversion unit performs conversion of the optical signal to the analog electrical signal, the storage unit is used for storing the previous frame signal, and the readout unit is used to buffer the pixel analog signal to the pixel buffer channels (the previous frame pixel buffer channel a and the current frame pixel buffer channel b). Its specific structure is shown in Fig. 2;
Analog Signal Processing Module B: it is used to read out in a column parallel manner, that is, read out row by row, and separately receive data read from the previous frame pixel buffer channel a and the current frame pixel buffer channel b, and the operation after reading out further includes transmission of analog signals and analog-to-digital conversion operations;
Memory Array C: there is an N*4 memory array after the readout circuit, and the memory array is arranged in N columns, each column including 4 memory cells, wherein 3 memory cells save the previous frame readout signals, and 1 memory cell saves the current frame readout signals;
Digital Processing Module D: the digital processing circuit completes the operation of the current frame readout signal and three previous frame readout signals of the current column and previous frame readout signals of adjacent columns, the operation may include subtraction, division, multiplication, shifting, etc. and its purpose is to obtain the difference of the current frame readout signal and the adjacent previous frame readout signals.
Chip Control Circuit: this module is used to control the global operation of the chip, and provides timing control signals required for all modules including row-to-row pixel exposure, readout, reset, column-level readout, analog-to-digital conversion, data operation, etc.
Among others, the pixel array A outputs the current frame pixel analog signal acquired at the current time and a previous frame pixel analog signal acquired at a previous time to the analog signal processing module B for data conversion by means of roll exposure, obtaining a current frame pixel digital signal corresponding to the current frame pixel analog signal and a previous frame pixel digital signal corresponding to the previous frame pixel analog signal;
the memory array C acquires the current frame pixel digital signal and the previous frame pixel digital signal, and stores the current frame pixel digital signal and the previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of the current frame pixel digital signal and the previous frame pixel digital signal in the pixel array A, wherein the current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and the previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively;
the digital processing module D acquires the current frame pixel digital signal and the previous frame pixel digital signal in the memory array C, and performs a difference operation according to the current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of a moving target.
In this embodiment, the optical signal is converted into an analog electrical signal by the photoelectric conversion unit in the pixel over Tint exposure time, and then the previous frame pixel signal stored in the pixel storage node is read out to the previous frame pixel buffer channel a, and the analog signal processing module B performs operations such as transmission, amplification, noise reduction, analog-to-digital conversion, and the like, on this signal, and saves the signal in the memory array C; after the previous frame pixel signal is read, the sensor sends the current frame pixel signal of the pixel into the pixel storage sub-module A2 within the pixel and read out it, and this readout effects reading out the current frame signal into the memory array C via the current frame signal bus by the column-level readout circuit; a data operation is started by a digital processing circuit after each update of the signal in the memory array C, and the operation is performed on a current frame signal and an adjacent previous frame signal so as to obtain time domain and spatial changes of a target scene.
Further, the analog signal processing module B further comprises a signal amplification sub-module and a noise reduction filter sub-module; wherein an input terminal of the signal amplification sub-module is connected to the output terminal of the pixel array A;
an output terminal of the signal amplification sub-module is connected to an input terminal of the noise reduction filter sub-module;
an output terminal of the noise reduction filter sub-module is connected to an input terminal of the analog-to-digital conversion sub-module.
It should be noted that, in order to improve the effect of the image processing, the acquired pixel analog signal may be amplified and noise-reduced before the analog-to-digital conversion.
The system according to the embodiment of the present invention converts an optical signal into an analog electrical signal through a photoelectric conversion unit in a pixel, and then outputs it in a digital form and stores it in the memory array C according to a preset order. A data operation is started by a digital processing circuit after each update of the signal in the memory array C, and the operation is performed on a current frame signal and an adjacent previous frame signal so as to obtain time domain and spatial changes of a target scene. After a pixel frame is acquired by using the image sensor, the system of the present invention performs preliminary image processing on the acquired pixel frame directly by the image sensor by combining the image sensor with a digital processing module D, so that subsequent processing devices can complete dynamic target extraction more quickly, thereby improving the overall processing efficiency, and solving such a technical problem that the processing speed of an image processor will be reduced due to high-intensity image processing tasks in applications such as miniaturization and low power consumption.
The above involves a detailed description of an embodiment of an image sensor provided by the present invention, and the following concerns a detailed description of an embodiment of an image dynamic information processing method provided by the present invention.
With reference to Fig. 3 to Fig. 6, the present invention provides an image dynamic information processing method, which is applied to the image sensor described above, comprising:
301: after converting a received optical signal into a current frame pixel analog signal, the pixel array A outputting the current frame pixel analog signal to the current frame pixel buffer channel b, and outputting a previous frame pixel analog signal stored in the pixel storage sub-module A2 to the previous frame pixel buffer channel a by triggering the pixel readout sub-module A3;
302: the pixel storage sub-module A2 acquiring and storing the current frame pixel analog signal output by the photoelectric conversion sub-module A1;
303: the current frame pixel buffer channel b and the previous frame pixel buffer channel a inputting the current frame pixel analog signal and the previous frame pixel analog signal to the analog signal processing module B by means of roll exposure, respectively, and obtaining the current frame pixel digital signal corresponding to the current frame pixel analog signal and the previous frame pixel digital signal corresponding to the previous frame pixel analog signal;
304: the memory array C acquiring the current frame pixel digital signal and the previous frame pixel digital signal, and storing the current frame pixel digital signal and the previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of the current frame pixel digital signal and the previous frame pixel digital signal in the pixel array A;
wherein, the current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and the previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively;
305: the digital processing module D performing a difference operation on the current frame pixel digital signal of the current frame pixel sequence memory in the memory module and the previous frame pixel digital signal of the previous frame pixel sequence memory in the same memory module to obtain a motion determination parameter;
306: determining whether the motion determination parameter is greater than a motion determination threshold, and if so, performing step 307;
307: performing a difference operation on the current frame pixel digital signal and the previous frame pixel digital signals in the same memory module and adjacent memory modules, and determining motion vector information of the moving target according to the difference between the minimum value among all of the obtained motion determination parameters and a direction determination threshold.
For ease of understanding, the embodiment shown in FIG. 3 is described in detail in a specific application example, and the application examples include cases where: firstly, the optical signal is converted into an analog electrical signal by the photoelectric conversion unit in the pixel over Tint exposure time, and then the previous frame pixel signal stored in the pixel storage sub-module within the unit pixel is read out to the previous frame pixel buffer channel, and the column-level readout circuit performs operations such as transmission, amplification, noise reduction, analog-to-digital conversion, and the like, on this signal, and saves the signal in the memory array C; after the previous frame pixel signal is read out, the sensor sends the current frame pixel signal of the pixel into a storage node within the pixel and read out it, and this readout effects reading out the current frame signal into the memory array C via the current frame pixel buffer channel in a column-level readout way; a data operation is started by a digital processing circuit after each update of the signal in the memory array C, and the operation is performed on a current frame pixel signal and an adjacent previous frame pixel signal so as to obtain time domain and spatial changes of a target scene;
wherein the output data may be the data of the current frame or of the time domain and the spatial change data after the operation, or both of the above may be output. The pixel readout sub-module within the unit pixel is connected to two pixel buffer channels: a previous frame pixel buffer channel a and a current frame pixel buffer channel b. For the same unit pixel, the previous frame pixel signal is readout first, and is outputted by the readout module to the previous frame pixel buffer channel a, and then the current frame pixel signal is read out, and is outputted by the readout module to the current frame pixel buffer channel b. After two readouts, the pixel begins exposure here, acquiring a signal for the next frame. Since the column-level parallel readout mode is adopted, all the columns are simultaneously read out, that is, the pixels of the same row are subjected to operations such as exposure and signal readout in parallel under the same control timing conditions. According to the above pixel operation mode, when the previous frame pixel signal is read out for the mth row of pixels, the current frame pixel signal is read out for the m-1th row of pixels, and in the next readout period, the previous frame pixel signal is read out for the m+1th row of pixels, and the current frame pixel signal is read out for the mth row of pixels. According to the above-described readout mode of the pixel array A, in order to realize cyclic readout, when the previous frame pixel signal is read out for the 1 st row of pixels, the current frame pixel signal is read out for the mth row of pixels, and in the next readout period, the previous frame pixel signal is read out for the 2nd row of pixels, and the current frame pixel signal is read out for the 1st row of pixels. Following the row-to-row readout in this way, when the previous frame pixel signal is read out for the mth row of pixels, the current frame pixel signal is read out for the m-1th row of pixels, and in the next readout period, when the previous frame pixel signal is read out for the 1st row of pixels, the current frame pixel signal for the mth row of pixels, thus forming a cyclic readout, and ensuring that the sensor outputs the pixel data frame by frame. The readout time of each signal is Tr, which constitutes the above-described cyclic readout, and the exposure time Tint satisfies Tint=MxTr. Among others, SigPx represents the previous frame readout of the xth row of pixels, and SigCx represents the current frame readout of the xth row of pixels.
Among others, the exposure and readout timing of respective pixels is as shown in Fig. 4, and the signal readout sequence of the previous frame pixel buffer channel a and the current frame pixel buffer channel b during the readout period is as shown in Fig. 5.
The data read out in parallel by the column level in the above-described readout mode is stored in the memory array C. For N columns of pixels, there are 4 x N memories in total, each column having 4 memories, wherein 3 memories are the previous frame memories (MEMP-i, MEMP2, and MEMP3) and 1 memory is the current frame memory (MEMC). In each readout period, one previous frame readout data and one current frame readout data are sent to the previous frame memories and the current frame memory, respectively. The three previous frame memories and the one current frame memory simultaneously complete the data update, MEMP2 moves the data to MEMP-ι, MEMP3 moves the data to MEMP2, the newly obtained previous frame readout data is saved in MEMP3, and the newly obtained current frame readout data is saved in the MEMC. Thus, according to the above-mentioned sensor readout mode and memory storage mode, except for readout on the head and the tail rows of the array, the data saved in the four memories of each column at the readout time of the other are SigPm-i, SigPm, SigPm+i and SigCm in the order of MEMP-ι, MEMP2, MEMP3, and MEMC, respectively. Signals of the head and the tail rows of the array are arranged in the following manner: SigPM-i, SigPM, SigPi and SigCM; SigPM, SigPi, SigP2 and SigCi. The specific array structure can be referred to Fig. 6.
After the memory data is updated, the data processing circuit performs an operation on the current frame data and three previous frame data of the current column and six previous frame data of an adjacent column. By performing an operation on the current frame data and the second previous frame data of the current column, it can be determined whether a point of the pixel has changed between the two frames. If no change has occurred, the point can be considered to be stationary, and if change has occurred, it can be considered that a scene or target corresponding to the point has moved. The above-mentioned operation on the current frame data and the second previous frame data of the current column is specifically that: the previous frame data is subtracted from the current frame data to obtain a motion calculation result, and the obtained calculation result is taken as an absolute value. If the absolute value is greater than the motion determination threshold Vth, it is considered that the scene or target corresponding to the point has moved, and the determination result is outputted by 1; if the absolute value is smaller than Vth, it is considered that the point has no significant motion change, and the determination result is outputted by 0. After determining that the pixel point has changed, the current frame data in the memory and other two data in the current storage column and six data in the adjacent storage column are operated here, and the direction in which the pixel point moves can be determined. This operation is specifically performed in a way that 8 previous frame data are separately subtracted from the current frame data, to obtain 8 direction calculation results, then the obtained 8 direction calculation results are taken as absolute values, and the minimum value of the 8 absolute values is taken. If the minimum value is smaller than a direction determination threshold Dth, it is considered that the motion direction detected by the pixel point assumes from a position of the previous frame pixel corresponding to the generated minimum value toward the position of the current frame pixel, and the direction determination result is represented by 0~7, which denote motion directions at 0, 45, 90, 135, 180, 225, 270 and 315 degrees, respectively. Finally, the dynamic information outputted by the sensor may be motion calculation data, motion determination result, direction calculation data, and direction determination result, and subsequently motion target extraction may be completed by a computer or an integrated processor. At the same time, the sensor can also output the unprocessed current frame data.
A person ordinarily skilled in the art can clearly understand that for the convenience and brevity of the description, specific working processes of the foregoing systems, apparatuses and units can be referred to the corresponding processes in the above method embodiment, and details are not described herein again.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be another division manners, for example, multiple units or components may be combined or may be integrated into another system, or some features can be ignored or not executed. In addition, coupling or direct coupling or communicative connection between each other as shown or discussed may be an indirect coupling or communication connection through some interfaces, apparatuses or units, and may be electrical, mechanical or otherwise.
The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
If the integrated unit is implemented in the form of a software functional unit and sold or used as a separate product, it may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof that contributes to the prior art, or all or part of the technical solution may essentially be embodied in the form of a software product, stored in a storage medium, including a number of instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. Meanwhile, the foregoing storage medium includes: a II disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and various media, which can store program codes.
The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting. Although the present invention has been described in detail with reference to the foregoing embodiments, a person ordinarily skilled in the art will understand that the technical solutions described in the foregoing embodiments may be modified or equivalent substitutions of some technical features in the technical solutions may be performed. However, these modifications or substitutions do not cause the essence of corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. An image sensor, characterized by comprising: a pixel array, an analog signal processing module, a memory array, a digital processing module, and a main control chip;
an output terminal of said pixel array being electrically connected to an input terminal of said analog signal processing module;
an output terminal of said analog signal processing module being communicatively connected to an input terminal of said memory array;
an output terminal of said memory array being communicatively connected to said digital processing module;
said main control chip being communicatively connected to control terminals of said pixel array, said analog signal processing module, said memory array and said digital processing module, respectively;
said pixel array specifically including N*M unit pixels and pixel buffer channels, wherein a positive integer M represents a total number of rows of said pixel array, and a positive integer N represents a total number of columns of said pixel array;
said pixel buffer channels specifically including a previous frame pixel buffer channel and a current frame pixel buffer channel;
said unit pixel specifically including: a photoelectric conversion sub-module, a pixel storage sub-module, and a pixel readout sub-module;
said pixel storage sub-module being provided for storing an analog electrical signal of a previous frame pixel;
said pixel readout sub-module being provided for outputting a previous frame pixel analog signal stored in the pixel storage sub-module to said previous frame pixel buffer channel and outputting a current frame pixel analog signal obtained by the photoelectric conversion sub-module to said current frame pixel buffer channel;
said analog signal processing module including an analog-to-digital conversion sub-module;
said memory array specifically including N memory modules, said memory module specifically including a current pixel sequence memory, a first previous frame pixel sequence memory, a second previous frame pixel sequence memory, and a third previous frame pixel sequence memory;
wherein, said pixel array outputs the current frame pixel analog signal acquired at the current time and a previous frame pixel analog signal acquired at a previous time to said analog signal processing module for data conversion by means of roll exposure, obtaining a current frame pixel digital signal corresponding to said current frame pixel analog signal and a previous frame pixel digital signal corresponding to said previous frame pixel analog signal;
the memory array acquires said current frame pixel digital signal and said previous frame pixel digital signal, and stores said current frame pixel digital signal and said previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of said current frame pixel digital signal and said previous frame pixel digital signal in said pixel array, wherein said current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and said previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively;
said digital processing module acquires said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performs a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of a moving target.
2. The image sensor according to claim 1, characterized in that said analog signal processing module further comprises: a signal amplification sub-module and a noise reduction filter sub-module; wherein an input terminal of said signal amplification sub-module is connected to the output terminal of said pixel array;
an output terminal of said signal amplification sub-module is connected to an input terminal of said noise reduction filter sub-module;
an output terminal of said noise reduction filter sub-module is connected to an input terminal of said analog-to-digital conversion sub-module.
3. An image dynamic information processing method, which is applied to the image sensor according to any one of claims 1 to 2, characterized by comprising:
after converting a received optical signal into the current frame pixel analog signal, the pixel array outputting said current frame pixel analog signal to the current frame pixel buffer channel, and outputting the previous frame pixel analog signal stored in the pixel storage sub-module to the previous frame pixel buffer channel by triggering the pixel readout sub-module;
said current frame pixel buffer channel and said previous frame pixel buffer channel inputting said current frame pixel analog signal and said previous frame pixel analog signal to the analog signal processing module by means of roll exposure, respectively, and obtaining the current frame pixel digital signal corresponding to said current frame pixel analog signal and the previous frame pixel digital signal corresponding to said previous frame pixel analog signal;
the memory array acquiring said current frame pixel digital signal and said previous frame pixel digital signal, and storing said current frame pixel digital signal and said previous frame pixel digital signal in corresponding memories, respectively, according to row and column information of said current frame pixel digital signal and said previous frame pixel digital signal in said pixel array, wherein said current frame pixel digital signal is sequentially stored in each of the current frame pixel sequence memories, and said previous frame pixel digital signal of the unit pixel in the same row as the current frame pixel digital signals is stored in the second previous frame pixel sequence memory, and the first previous frame pixel sequence memory and the third previous frame pixel sequence memory are used for storing a previous frame pixel digital signal of a unit pixel in a row adjacent to the previous frame pixel digital signal in the second previous frame pixel sequence memory, respectively;
said digital processing module acquiring said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performing a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of the moving target.
4. The image dynamic information processing method according to claim 3, characterized by further comprising, after outputting the previous frame pixel analog signal stored in the pixel storage sub-module to the previous frame pixel buffer channel:
said pixel storage sub-module acquiring and storing the current frame pixel analog signal output by said photoelectric conversion sub-module.
5. The image dynamic information processing method according to claim 3, characterized in that said digital processing module acquiring said current frame pixel digital signal and said previous frame pixel digital signal in the memory array, and performing a difference operation according to said current frame pixel digital signal and the previous frame pixel digital signal at adjacent timing so as to obtain motion vector information of the moving target, specifically comprises:
said digital processing module performing a difference operation on the current frame pixel digital signal of said current frame pixel sequence memory in said memory module and the previous frame pixel digital signal of said previous frame pixel sequence memory in the same memory module to obtain a motion determination parameter;
if said motion determination parameter is greater than a motion determination threshold, performing the next step;
performing a difference operation on said current frame pixel digital signal and the previous frame pixel digital signals in the same memory module and adjacent memory modules, and determining motion vector information of the moving target according to the difference between the minimum value among all of the obtained motion determination parameters and a direction determination threshold.
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| CN112311964B (en) * | 2019-07-26 | 2022-06-07 | 华为技术有限公司 | Pixel acquisition circuit, dynamic vision sensor and image acquisition equipment |
| CN110475085A (en) * | 2019-09-17 | 2019-11-19 | 德淮半导体有限公司 | Reading circuit and its control method, the imaging sensor of imaging sensor |
| CN112040164B (en) * | 2020-08-21 | 2022-05-24 | 苏州华兴源创科技股份有限公司 | Data processing method and device, integrated chip and storage medium |
| CN114390187B (en) * | 2020-10-22 | 2024-02-27 | 格科微电子（上海）有限公司 | Passive image acquisition device, data reading method thereof, storage medium and terminal |
| CN113157146B (en) | 2021-04-19 | 2022-06-10 | 深圳市华星光电半导体显示技术有限公司 | Display panel and photosensitive display device |
| CN113676617B (en) * | 2021-08-12 | 2023-08-18 | Oppo广东移动通信有限公司 | Motion detection method, motion detection device, electronic device and computer-readable storage medium |
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| KR101896666B1 (en) * | 2012-07-05 | 2018-09-07 | 삼성전자주식회사 | Image sensor chip, operation method thereof, and system having the same |
| CN107635086A (en) * | 2017-10-25 | 2018-01-26 | 深圳地平线机器人科技有限公司 | Solid state image sensor and image-sensing method |
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