WO2021128532A1 - Multiplexing retinal cone-rod bionic vision sensor - Google Patents

Multiplexing retinal cone-rod bionic vision sensor Download PDF

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Publication number
WO2021128532A1
WO2021128532A1 PCT/CN2020/073507 CN2020073507W WO2021128532A1 WO 2021128532 A1 WO2021128532 A1 WO 2021128532A1 CN 2020073507 W CN2020073507 W CN 2020073507W WO 2021128532 A1 WO2021128532 A1 WO 2021128532A1
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signal
current
circuit
active pixel
voltage
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PCT/CN2020/073507
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French (fr)
Chinese (zh)
Inventor
施路平
杨哲宇
赵蓉
裴京
徐海峥
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清华大学
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Publication of WO2021128532A1 publication Critical patent/WO2021128532A1/en

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    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03F—AMPLIFIERS
    • H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
    • H03F3/45—Differential amplifiers

Definitions

  • the present invention relates to the field of integrated circuit technology, and more specifically, to a viewing cone and rod multiplexing type bionic vision sensor.
  • bionic vision sensors are playing an increasingly important role in many application fields such as industrial manufacturing, intelligent transportation, and intelligent robots.
  • the bionic vision sensor mainly simulates the modalities of the retina of the human eye.
  • the retina of the human eye mainly includes two visual perception cells, namely cone cells and rod cells, corresponding to two different modalities respectively.
  • the mode of cone cells is mainly sensitive to absolute light intensity information and color information, and has high image restoration accuracy, but the restoration speed is slow; contrary to the mode of cone cells, rod cells mainly respond to light.
  • the change amount of strong information is sensed, which has a faster perception speed and a larger dynamic range of perception, but it cannot perceive absolute light intensity information and color information.
  • bionic vision sensors in the prior art can only simulate one of the modalities of the retina of the human eye, forming a single perception mode, and thus can only perceive a certain type of information.
  • traditional cameras similar to cones, mainly perceive color information.
  • Dynamic Vision Sensor (DVS) similar to rod cells, mainly perceives the amount of change in light intensity information.
  • DVS Dynamic Vision Sensor
  • the application scenarios of single-modal vision sensors are limited. For example, for a bionic vision sensor similar to a cone cell, since its shooting obtains absolute light intensity information rather than the amount of change in light intensity information, although it is widely used in home entertainment electronic equipment, it is often used in the field of industrial control. Faced with the problem of insufficient speed and too small dynamic range, it is difficult to apply.
  • the bionic vision sensor similar to the rod cell although the sensing speed is very fast, it is only sensitive to moving targets, which makes it difficult to capture images, or the captured images are of poor quality, which is difficult to meet the needs of entertainment electronic devices. Moreover, because the bionic vision sensor only contains a single perception mode, the bionic vision sensor will fail when this perception mode fails, which has great limitations for unmanned, unmanned aerial vehicles and other robots that have high requirements for stability. In addition, the current main indicators for evaluating the performance of the bionic vision sensor include image quality, dynamic range and shooting speed.
  • these three indicators are often mutually exclusive: for example, when the shooting speed increases, the dynamic range of the bionic vision sensor will decrease; when the image quality increases, the shooting speed will generally be It is difficult to take both into consideration at the same time.
  • embodiments of the present invention provide a cone-and-rod multiplexed bionic vision sensor.
  • the embodiment of the present invention provides a frustum and rod multiplexing type bionic vision sensor, including: a preset number of voltage mode active pixel sensor circuits and the preset number of current mode active pixel sensor circuits;
  • the voltage mode active pixel sensor circuit and the current mode active pixel sensor circuit share a photosensitive device, and the photosensitive device is used to obtain a target light signal and convert the target light signal into a current signal.
  • the mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal; the current mode active pixel sensor circuit is used to output a characterization based on the current signal The designated digital signal of the light intensity gradient information in the target light signal.
  • the photosensitive device includes a photodiode.
  • the voltage mode active pixel sensor circuit further includes: a current integrator, a shutter, and an analog-to-digital converter;
  • the current integrator is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit
  • the shutter is used to control the integration time of the current integrator
  • the analog-to-digital converter is used to convert the voltage analog signal of the target capacitor into the target voltage signal.
  • the target capacitance is specifically: an independent capacitance set in the voltage mode active pixel sensor circuit or the parasitic capacitance of the voltage mode active pixel sensor circuit.
  • the current mode active pixel sensor circuit further includes: a first current amplifier, a comparator, an adder, and a digital-to-analog converter;
  • the photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to an input terminal of the comparator;
  • a specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the other input terminal of the comparator;
  • the output terminal of the comparator is connected to the digital-to-analog converter, and the digital-to-analog converter converts the 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 terminal of the comparator outputs an event pulse signal, and the current mode active pixel sensor circuit outputs the specified digital signal.
  • the current mode active pixel sensor circuit further includes: a first current amplifier, an adder, a differential circuit and a voltage comparator;
  • the photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to the differential circuit;
  • a specified number of other photosensitive devices around the photosensitive device are respectively connected to the input end of the adder, and the output end of the adder is connected to the differential circuit, and the differential circuit is used to transfer the first current
  • the output result of the amplifier and the output result of the adder are subjected to a differential operation, and a differential voltage signal is obtained;
  • the differential circuit is connected to the voltage comparator, and the voltage comparator is used to output the designated digital signal according to the differential voltage signal.
  • the differential circuit specifically includes: a differential numerator circuit and an integral sampling sub-circuit;
  • the output ends of the first current amplifier and the adder are respectively connected to the differential numerator circuit, and the differential numerator circuit is used to perform a differential operation between the output result of the first current amplifier and the output result of the adder, Obtain a differential current signal; the differential numerator circuit is connected to the integral sampling sub-circuit, and the integral sampling sub-circuit is used to perform integral sampling on the differential current signal to obtain a differential voltage signal.
  • the current mode active pixel sensor circuit further includes: a second current amplifier;
  • the second current amplifier is connected between the photosensitive device and the first current amplifier.
  • all the target voltage signals and all the designated digital signals jointly form an image.
  • the viewing cone and rod multiplexing type bionic vision sensor further includes: two storage units;
  • the two storage units are respectively used to store the target voltage signal and the designated digital signal.
  • An embodiment of the present invention provides a cone-rod multiplexing type bionic vision sensor, including: a preset number of voltage mode active pixel sensor circuits and a preset number of current mode active pixel sensor circuits, one active pixel sensor circuit in voltage mode The pixel sensor circuit and a current mode active pixel sensor circuit share a photosensitive device.
  • the target voltage signal that characterizes the light intensity information in the target light signal can be output, and the obtained target voltage signal has higher accuracy in characterizing the light intensity information, and higher quality images can be obtained, that is, the image has more High image signal-to-noise ratio.
  • the current mode active pixel sensor can output a designated digital signal that characterizes the light intensity gradient information in the target light signal.
  • the designated digital signal can be quickly obtained, so that the image can be obtained faster; on the other hand, due to The designated digital signal represents the light intensity gradient information, which can improve the dynamic range of the image.
  • the dual-mode output mode of the cone and rod multiplexed bionic vision sensor can be realized, and the image quality, dynamic range and shooting speed of the cone and rod multiplexed bionic vision sensor can be guaranteed.
  • the multiplexed bionic vision sensor is more stable and robust, can adapt to different shooting scenarios, and has a wider application range.
  • FIG. 1 is a schematic structural diagram of a viewing cone and rod multiplexing type bionic vision sensor according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a pixel array corresponding to all photosensitive devices in a viewing cone and rod multiplexed bionic vision sensor according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a pixel array corresponding to all photosensitive devices in a viewing cone and rod multiplexed bionic vision sensor according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of circuit details of a frustum and rod multiplexed bionic vision sensor according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a change form of a designated digital signal input to a digital-to-analog converter in a circuit of a viewing cone and rod multiplexed bionic vision sensor according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a viewing cone and rod multiplexing type bionic vision sensor provided by an embodiment of the present invention.
  • the embodiment of the present invention provides a frustum and rod multiplexing type bionic vision sensor, including: a preset number of voltage mode active pixel sensor circuits and the preset number of current mode active pixel sensor circuits;
  • the voltage mode active pixel sensor circuit and the current mode active pixel sensor circuit share a photosensitive device, and the photosensitive device is used to obtain a target light signal and convert the target light signal into a current signal.
  • the mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal; the current mode active pixel sensor circuit is used to output a characterization based on the current signal The designated digital signal of the light intensity gradient information in the target light signal.
  • the viewing cone and rod multiplexed bionic vision sensor provided in the embodiment of the present invention includes a preset number of photosensitive devices, all of which are the same and have the same function. They are all used to obtain the target light signal, and Convert the acquired target light signal into a current signal.
  • the target light signal refers to the light signal reflected on the surface of the target object.
  • the target light signal can be irradiated directly on the photosensitive device, or irradiated on the photosensitive device through a collimator lens, or irradiated on the photosensitive device through a cover.
  • the waveband of the target light signal may be a visible light waveband, that is, the target light signal may be a visible light signal.
  • the target object refers to an object that needs to be observed by the human eye, which may be a real object, an image, or other forms, and the specific form of the target object is not limited in the present invention.
  • Each photosensitive device in the cone-and-rod multiplexed bionic vision sensor provided in the embodiment of the present invention corresponds to two control circuits, that is, the cone-and-rod multiplexed bionic vision sensor includes a preset number of voltage mode active pixels
  • the sensor circuit and a preset number of current mode active pixel sensor circuits are equivalent to the cone cells of the human eye retina, and the current mode active pixel sensor circuit is equivalent to the rod cell of the human eye retina.
  • a voltage mode active pixel sensor circuit and a current mode active pixel sensor circuit share a photosensitive device, and jointly control a photosensitive device.
  • the voltage mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal converted by the photosensitive device;
  • the current mode active pixel sensor circuit is used to output the current signal obtained based on the conversion of the photosensitive device , Output a designated digital signal that characterizes the light intensity gradient information in the target light signal.
  • the voltage mode active pixel sensor circuit refers to the active pixel sensor (Active Pixel Sensor, APS) circuit whose working mode is the voltage mode, that is, the photosensitive device in it needs to correct the current after converting the current signal. The signal is integrated to obtain the target voltage signal.
  • the current mode active pixel sensor circuit refers to the APS circuit whose working mode is the current mode, that is, after the photosensitive device in it converts the current signal, it does not need to directly integrate the current signal, but does other processing.
  • FIG. 1 it is a schematic diagram of the structure of the frustum and rod multiplexed bionic vision sensor provided in the embodiment of the present invention.
  • Vcc1 and Vcc2 are the first power supply and the second power supply, respectively. It is 3.3V.
  • Vcc1, photosensitive device 11 and the left side branch constitute a voltage mode active pixel sensor circuit
  • Vcc1, photosensitive device 11 and the right side branch constitute a current mode active pixel sensor circuit.
  • the cone and rod multiplexed bionic vision sensor provided in the embodiment of the present invention includes: a preset number of voltage mode active pixel sensor circuits and a preset number of current mode active pixel sensor circuits, one voltage mode active pixel The sensor circuit and a current mode active pixel sensor circuit share a photosensitive device.
  • the target voltage signal that characterizes the light intensity information in the target light signal can be output, and the obtained target voltage signal has higher accuracy in characterizing the light intensity information, and higher quality images can be obtained, that is, the image has more High image signal-to-noise ratio.
  • the current mode active pixel sensor can output a designated digital signal that characterizes the light intensity gradient information in the target light signal.
  • the designated digital signal can be obtained quickly, making the image faster; on the other hand, due to The designated digital signal represents the light intensity gradient information, which can improve the dynamic range of the image.
  • the dual-mode output mode of the cone and rod multiplexed bionic vision sensor can be realized, and the image quality, dynamic range and shooting speed of the cone and rod multiplexed bionic vision sensor can be guaranteed.
  • the multiplexed bionic vision sensor is more stable and robust, can adapt to different shooting scenarios, and has a wider application range.
  • the viewing cone and rod multiplexing type bionic vision sensor is provided, and the photosensitive device includes a photodiode.
  • the photosensitive device is composed of a photo-diode (PD), which does not include a color filter, and the response curve of the photo-diode is also consistent, which can perceive gray-scale signals.
  • PD photo-diode
  • the image obtained by the frustum and rod multiplexed bionic vision sensor is a grayscale image.
  • one photosensitive device in the cone and rod multiplexed bionic vision sensor corresponds to one pixel
  • all photosensitive devices in the cone and rod multiplexed bionic vision sensor correspond to the pixel array.
  • each photosensitive device in the viewing cone and rod multiplexed bionic vision sensor has a one-to-one correspondence with the corresponding pixels in the pixel array.
  • the pixel arrays corresponding to all photosensitive devices may be specifically shown in FIGS. 2 and 3, and each circle in FIGS. 2 and 3 represents a pixel.
  • FIG. 2 there are 3 other pixels 22 around the pixel 21, and in FIG. 3, there are 4 other pixels around the pixel 31.
  • the pixel array of Fig. 2 has a certain number of pixels. In the case of a higher level of integration.
  • the pixel array of Figure 3 is compared with the pixel array of Figure 2. Since each pixel can perceive the spatial gradient signal with the surrounding 4 other pixels, it can make the cone and rod multiplexed bionic vision sensor output image better quality.
  • the arrangement of the pixel array shown in Figs. 2 and 3 is adopted, which not only realizes the acquisition of low-speed light intensity signals, but also realizes the acquisition of high-speed spatial gradient signals, ensuring image quality, acquisition speed and The dynamic range of the image.
  • the voltage mode active pixel sensor circuit further includes: a current integrator, a shutter, and an analog-to-digital converter;
  • the current integrator is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit
  • the shutter is used to control the integration time of the current integrator
  • the analog-to-digital converter is used to convert the voltage analog signal of the target capacitor into the target voltage signal.
  • the voltage-mode active pixel sensor circuit in the cone and rod multiplexed bionic vision sensor provided in the embodiment of the present invention includes a photosensitive device 11, and the photosensitive device 11 is specifically a PD.
  • the voltage mode active pixel sensor circuit also includes: a current integrator (CI) 12, a shutter 14 and an analog-to-digital converter (ADC) 13.
  • CI12 is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit;
  • ADC13 is used to convert the voltage analog signal of the target capacitor into the target voltage signal.
  • the shutter 14 is used to control the integration time of CI12.
  • a storage unit may be connected after the ADC 13 to store the voltage analog signal of the target capacitor read by the ADC 13 in the storage unit.
  • the storage unit connected after ADC13 may specifically be a register, a latch, SRAM, DRAM, a memristor, etc. Taking a register as an example, the number of bits of the register can be selected according to the accuracy of the ADC13. In this embodiment of the present invention, an 8-bit register can be selected to store the voltage analog signal of the target capacitor.
  • the target capacitance is specifically: an independent capacitance or a set in the voltage mode active pixel sensor circuit.
  • the parasitic capacitance of the voltage mode active pixel sensor circuit is described.
  • the target capacitance mentioned in the embodiment of the present invention may specifically be the parasitic capacitance of the voltage mode active pixel sensor circuit, or it may be an additional independent capacitance introduced in the voltage mode active pixel sensor circuit.
  • the photodiodes are connected in series.
  • the parasitic capacitance of the voltage mode active pixel sensor circuit is used as the target capacitance, which can save the cost of introducing an additional independent capacitance.
  • the current-mode active pixel sensor circuit further includes: a first current amplifier, a comparator, an adder, and a digital Analog converter
  • the photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to an input terminal of the comparator;
  • a specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the other input terminal of the comparator;
  • the output terminal of the comparator is connected to the digital-to-analog converter, and the digital-to-analog converter converts the 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 terminal of the comparator outputs an event pulse signal, the current mode active pixel sensor circuit outputs the designated digital signal, and the designated digital signal is used to characterize the light in the target light signal. Strong gradient information.
  • the current mode active pixel sensor circuit includes a photosensitive device 11, and the current mode active pixel sensor circuit also includes: a first current amplifier 15, a comparator 16, an adder 17, and a digital-to-analog converter ⁇ (Digital to Analog Converter, DAC)18.
  • the photosensitive device 11 is connected to a first current amplifier 15.
  • the first current amplifier 15 is used to amplify the current signal converted by the photosensitive device 11.
  • the amplification factor is a specified number, that is, the amplification factor is the same as other photosensitive devices around the photosensitive device 11.
  • the number of is equal to ensure that the amplified current signal is at the same magnitude as the sum of the current signals converted by a specified number of other photosensitive devices around the photosensitive device 11.
  • the designated number is 3 or 4.
  • the specified number is equal to 4 as an example for description.
  • the first current amplifier 15 is connected to an input terminal of the comparator 16 and inputs the amplified current signal into the comparator 16.
  • the four other photosensitive devices around the photosensitive device 11 are respectively connected to the input terminal of the adder 17, and the output terminal of the adder 17 is connected to the other input terminal of the comparator 17.
  • the current signals I 1 , I 2 , I 3 , and I 4 obtained by the conversion of 4 other photosensitive devices are input to the adder 17 respectively, and the adder 17 sums I 1 , I 2 , I 3 , and I 4 , and The sum result is input to the comparator 16.
  • the comparator 16 compares the amplified current signal and the sum result of the adder 17. If the comparison result between the current moment and the current moment is consistent, no output is made.
  • the DAC18 converts the input designated digital signal into a designated analog signal, and outputs the designated analog signal to the first current amplifier 15 or the adder 17, and then outputs it to the first current amplifier 15 or the adder 17.
  • the designated analog signal of a current amplifier 15 is denoted as I DA2
  • the designated analog signal output to the adder 17 is denoted as I DA1 .
  • the comparator 16 is used for comparison. When the comparison result at the current moment and the latter moment are opposite, the output terminal of the comparator 16 outputs the event pulse signal, that is, the comparator 16 is in the edge trigger state, and the current mode
  • the active pixel sensor circuit outputs a designated digital signal, and the designated digital signal is used to characterize the light intensity gradient information in the target light signal.
  • the designated digital signal output by the DAC18 is a digital signal represented by 0 and 1.
  • the adder in the embodiment of the present invention can be an actual device or a functional module that realizes the addition function.
  • it can be achieved by combining the lines where the current signals I 1 , I 2 , I 3 , and I 4 are located. Realize as a line.
  • the first current amplifier may also be an actual device or a functional module that realizes the current amplifying function, which is not specifically limited in the embodiment of the present invention.
  • the DAC 18 can also be connected to a storage unit, and the designated digital signal output by the current mode active pixel sensor circuit can be stored in the storage unit.
  • the storage unit connected to the DAC18 may specifically be a register, a latch, SRAM, DRAM, a memristor, and so on. Taking a register as an example, the number of bits of the register can be selected according to the accuracy of the DAC18. In the embodiment of the present invention, a 4-bit register can be selected here.
  • FIG. 4 it is a detailed schematic diagram of the circuit of the viewing cone and rod multiplexing type bionic vision sensor provided in the embodiment of the present invention, which corresponds to FIG. 1.
  • the circuit structure 41 is a voltage mode active pixel sensor circuit
  • the circuit structure 42 is a current mode active pixel sensor circuit, which includes a current mode active pixel sensor circuit and other surrounding current mode active pixel sensor circuits. The relationship between them.
  • the circuit structure 41 includes two power supplies, both of which are 3.3V
  • the circuit structure 42 includes one power supply, which is 3.3V.
  • the circuit structure 41 and the circuit structure 42 share a photosensitive device 48.
  • the MOS tube 43 is used to achieve CS gating, the MOS tube 44 is used for biasing, the MOS tube 45 is used for shuttering, and the MOS tube 46 is used for current signal converted by the photosensitive device 48. Integral, the capacitor 47 is used to protect the circuit.
  • the MOS transistor 43 is connected to the addressing unit 415, the addressing unit 415 is connected to the ADC 416, and the ADC 416 is connected to the storage unit 417.
  • the circuit structure 41 and the circuit structure 42 are connected through a MOS tube 418.
  • the addressing unit 415 is used for addressing the storage unit 417 to store the target voltage signal converted by the ADC 416.
  • the photosensitive device 48 is connected to the MOS tube 49, and the MOS tube 49 is connected to the MOS tube 410 to form a current mirror.
  • the current signal I c converted by the photosensitive device 48 can be compared with
  • the magnitude of the current signal at the end corresponding to the mirror image of the photosensitive device 48 in the MOS tube 410 has a multiple relationship of a specified number P, that is, the current at the end corresponding to the mirror image of the photosensitive device 48 in the MOS tube 410 is P*I c .
  • the comparator 411 is connected to the addressing unit 412, and the addressing unit 412 is connected to the DAC 414 and the storage unit 413, respectively.
  • the input of the DAC414 may be a specified digital signal that is artificially inputted periodically, and may specifically increase in a stepwise manner.
  • the addressing unit 412 is used to address the storage unit 413 to store the output result of the current mode active pixel sensor circuit when the event pulse signal is output at the output terminal of the comparator 411, that is, the comparator 411 is in an edge trigger state.
  • the comparator 411 is used to control the output action of the current mode active pixel sensor circuit.
  • the output terminal of the comparator 411 outputs the event pulse signal, that is, the comparator 411 is in the edge trigger state, and the current mode is active.
  • the pixel sensor circuit outputs the designated digital signal at this time, and the designated digital signal at this time is used to characterize the light intensity gradient information in the target light signal.
  • the storage unit 413 may specifically be a register, a latch, an SRAM, a DRAM, a memristor, and so on. Taking a register as an example, the number of bits of the register is related to the accuracy of the DAC414, and a 4-bit register may be used in the embodiment of the present invention.
  • the change form of the designated digital signal input to the DAC414 is shown in Fig. 5.
  • the designated digital signal increases stepwise with time.
  • N*step the designated digital signal takes the value ⁇ I, and the comparator 411
  • the ⁇ I at this time is used as the output of the current mode active pixel sensor circuit.
  • N is the number of steps passed before, and step is the time length of each step.
  • the current mode active pixel sensor circuit further includes: a first current amplifier, an adder, a differential circuit, and a voltage Comparators;
  • the photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to the differential circuit;
  • a specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the differential circuit, and the differential circuit is used to transfer the first current
  • the output result of the amplifier and the output result of the adder are subjected to a differential operation, and a differential voltage signal is obtained;
  • the differential circuit is connected to the voltage comparator, and the voltage comparator is used to output the designated digital signal according to the differential voltage signal.
  • a differential circuit and a voltage comparator can also be used to replace the comparator 16 and the DAC 18 in FIG. 1. That is, the structure schematic diagram of the viewing cone and rod multiplexing type bionic vision sensor as shown in FIG. 6 is obtained.
  • the first current amplifier 15 is connected to the differential circuit 19.
  • the four other photosensitive devices around the photosensitive device 11 are respectively connected to the input end of the adder 17, and the converted current signals I 1 , I 2 , I 3 , and I 4 are injected into the adder 17, and the output end of the adder 17 Connected to the differential circuit 19, the differential circuit 19 is used to perform a differential operation on the output result of the first current amplifier 15 and the output result of the adder 17, and obtain a differential voltage signal.
  • the differential circuit 19 is connected to a voltage comparator 110, and the voltage comparator 110 is used to output a designated digital signal according to the differential voltage signal obtained by the differential circuit 19.
  • the voltage comparator is a circuit that discriminates and compares the input differential voltage signal, and is a basic unit circuit that forms a non-sine wave generating circuit.
  • the voltage comparators that can be used in the embodiments of the present invention include single-limit comparators, hysteresis comparators, window comparators, and three-state voltage comparators.
  • the voltage comparator 110 selects the differential voltage signal according to the input differential voltage signal. Generally, the voltage comparator is set with two thresholds. Threshold 1 is the upper threshold, and Threshold 2 is the lower threshold. Only the pulse value of the differential voltage signal exceeds these two thresholds. Only one of these thresholds will output the specified digital signal.
  • the differential circuit specifically includes: a differential numerator circuit and an integral sampling sub-circuit;
  • the output ends of the first current amplifier and the adder are respectively connected to the differential numerator circuit, and the differential numerator circuit is used to perform a differential operation between the output result of the first current amplifier and the output result of the adder, Obtain a differential current signal; the differential numerator circuit is connected to the integral sampling sub-circuit, and the integral sampling sub-circuit is used to perform integral sampling on the differential current signal to obtain a differential voltage signal.
  • the differential circuit needs to include two sub-circuits, the differential numerator circuit and the integral sampling sub-circuit, and the differential numerator circuit is connected to the integral sampling sub-circuit.
  • the differential molecule circuit performs a differential operation between the output result of the first current amplifier and the output result of the adder to obtain a differential current signal, and then the integral sampling sub-circuit integrates and samples the differential current signal to obtain a differential voltage signal.
  • the current mode active pixel sensor circuit further includes: a second current amplifier;
  • the second current amplifier is connected between the photosensitive device and the first current amplifier.
  • the current signal converted by the photosensitive device is small, even if it is amplified by the first current amplifier or calculated by the summation, it is still small, which requires high precision of the devices used in subsequent operations. Therefore, the accuracy requirements for the devices used in subsequent operations are reduced, and a second current amplifier is connected between the photosensitive device and the first current amplifier to initially amplify the current signal converted by the photosensitive device.
  • the second current amplifier may be an actual device or a functional module that realizes the current amplification function, which is not specifically limited in the embodiment of the present invention.
  • the cone and rod multiplexed bionic vision sensor all the target voltage signals and all the designated digital signals jointly form an image.

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Abstract

Provided is a multiplexing retinal cone-rod bionic vision sensor. The sensor comprises: a preset number of voltage-mode active pixel sensor circuits and a preset number of current-mode active pixel sensor circuits, wherein one voltage-mode active pixel sensor circuit and one current-mode active pixel sensor circuit share one photosensitive device. By means of the voltage-mode active pixel sensor, a target voltage signal representing light intensity information in a target light signal can be output, the precision of representation of the light intensity information by the obtained target voltage signal is higher, and an image with a higher quality can be obtained, that is, the image has a higher image signal-to-noise ratio. Moreover, by means of the current-mode active pixel sensor, a specified digital signal representing light intensity gradient information in the target light signal can be output. The specified digital signal can be quickly obtained, and the speed of obtaining an image is higher; in addition, the designated digital signal represents the light intensity gradient information, such that the dynamic range of the image can be improved.

Description

视锥视杆复用式仿生视觉传感器View cone and rod multiplexed bionic vision sensor 技术领域Technical field
本发明涉及集成电路技术领域，更具体地，涉及视锥视杆复用式仿生视觉传感器。The present invention relates to the field of integrated circuit technology, and more specifically, to a viewing cone and rod multiplexing type bionic vision sensor.
背景技术Background technique
随着对图像传感器与图像处理识别算法研究地不断深入，仿生视觉传感器在工业制造、智能交通、智能机器人等多个应用领域扮演着越来越重要的作用。With the continuous in-depth research on image sensors and image processing and recognition algorithms, bionic vision sensors are playing an increasingly important role in many application fields such as industrial manufacturing, intelligent transportation, and intelligent robots.
仿生视觉传感器主要是对人眼视网膜的模态进行仿真，人眼视网膜主要包括两种视觉感知细胞，即视锥细胞和视杆细胞，分别对应两种不同的模态。其中，视锥细胞的模态主要是对绝对光强信息与颜色信息敏感，具有很高的图像还原精度，但是还原速度较慢；与视锥细胞的模态相反，视杆细胞主要是对光强信息的变化量进行感知，具有感知速度较快且感知的动态范围较大，但是其无法感知绝对光强信息与颜色信息。The bionic vision sensor mainly simulates the modalities of the retina of the human eye. The retina of the human eye mainly includes two visual perception cells, namely cone cells and rod cells, corresponding to two different modalities respectively. Among them, the mode of cone cells is mainly sensitive to absolute light intensity information and color information, and has high image restoration accuracy, but the restoration speed is slow; contrary to the mode of cone cells, rod cells mainly respond to light. The change amount of strong information is sensed, which has a faster perception speed and a larger dynamic range of perception, but it cannot perceive absolute light intensity information and color information.
但是，现有技术中存在的仿生视觉传感器均只能对人眼视网膜的其中一种模态进行仿真，形成单一的感知模式，进而只能对某一类信息进行感知。如传统相机，类似于视锥细胞，主要对颜色信息进行感知。如动态视觉传感器(Dynamic Vision Sensor，DVS)，类似于视杆细胞，主要对光强信息的变化量进行感知。而单一模态的视觉传感器应用场景有限。例如，对于类似于视锥细胞的仿生视觉传感器，由于其拍摄得到的是绝对光强信息而非光强信息的变化量，虽然在家用娱乐电子设备中应用非常广泛，但在工业控制领域，往往面临速度不够 动态范围太小等问题，因而很难应用。对于类似于视杆细胞的仿生视觉传感器，虽然感知速度很快，但是由于只对运动目标敏感，导致难以拍摄到图像，或者拍摄到的图像质量较差，难以满足娱乐电子设备的需求。而且由于仿生视觉传感器只包含单一的感知模式，在这种感知模式失效时仿生视觉传感器则失效，这对于对稳定性有高要求的无人驾驶、无人机等机器人有很大的局限。另外，目前评价仿生视觉传感器性能的主要指标有图像质量，动态范围与拍摄速度。由上述内容可知，在传统的仿生视觉传感器的框架下，这三个指标往往互斥：如当拍摄速度提高时，仿生视觉传感器的动态范围就会降低；当图像质量提高时拍摄速度一般就会降低，很难同时兼顾。However, all the bionic vision sensors in the prior art can only simulate one of the modalities of the retina of the human eye, forming a single perception mode, and thus can only perceive a certain type of information. For example, traditional cameras, similar to cones, mainly perceive color information. For example, Dynamic Vision Sensor (DVS), similar to rod cells, mainly perceives the amount of change in light intensity information. However, the application scenarios of single-modal vision sensors are limited. For example, for a bionic vision sensor similar to a cone cell, since its shooting obtains absolute light intensity information rather than the amount of change in light intensity information, although it is widely used in home entertainment electronic equipment, it is often used in the field of industrial control. Faced with the problem of insufficient speed and too small dynamic range, it is difficult to apply. For the bionic vision sensor similar to the rod cell, although the sensing speed is very fast, it is only sensitive to moving targets, which makes it difficult to capture images, or the captured images are of poor quality, which is difficult to meet the needs of entertainment electronic devices. Moreover, because the bionic vision sensor only contains a single perception mode, the bionic vision sensor will fail when this perception mode fails, which has great limitations for unmanned, unmanned aerial vehicles and other robots that have high requirements for stability. In addition, the current main indicators for evaluating the performance of the bionic vision sensor include image quality, dynamic range and shooting speed. As can be seen from the above content, in the framework of the traditional bionic vision sensor, these three indicators are often mutually exclusive: for example, when the shooting speed increases, the dynamic range of the bionic vision sensor will decrease; when the image quality increases, the shooting speed will generally be It is difficult to take both into consideration at the same time.
因此，现急需提供一种视锥视杆复用式仿生视觉传感器。Therefore, there is an urgent need to provide a frustum and rod multiplexed bionic vision sensor.
发明内容Summary of the invention
为克服上述问题或者至少部分地解决上述问题，本发明实施例提供了一种视锥视杆复用式仿生视觉传感器。In order to overcome the above-mentioned problems or at least partially solve the above-mentioned problems, embodiments of the present invention provide a cone-and-rod multiplexed bionic vision sensor.
本发明实施例提供了一种视锥视杆复用式仿生视觉传感器，包括：预设数量个电压模式有源像素传感器电路和所述预设数量个电流模式有源像素传感器电路；The embodiment of the present invention provides a frustum and rod multiplexing type bionic vision sensor, including: a preset number of voltage mode active pixel sensor circuits and the preset number of current mode active pixel sensor circuits;
所述电压模式有源像素传感器电路和所述电流模式有源像素传感器电路共用一个感光器件，所述感光器件用于获取目标光信号，并将所述目标光信号转换为电流信号，所述电压模式有源像素传感器电路用于基于所述电流信号，输出表征所述目标光信号中的光强信息的目标电压信号；所述电流模式有源像素传感器电路用于基于所述电流信号，输出表征所述目标光信号中的光强梯度信息的指定数字信号。The voltage mode active pixel sensor circuit and the current mode active pixel sensor circuit share a photosensitive device, and the photosensitive device is used to obtain a target light signal and convert the target light signal into a current signal. The mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal; the current mode active pixel sensor circuit is used to output a characterization based on the current signal The designated digital signal of the light intensity gradient information in the target light signal.
优选地，所述感光器件包括光电二极管。Preferably, the photosensitive device includes a photodiode.
优选地，所述电压模式有源像素传感器电路还包括：电流积分器、快门以及模数转换器；Preferably, the voltage mode active pixel sensor circuit further includes: a current integrator, a shutter, and an analog-to-digital converter;
所述电流积分器用于获取所述电压模式有源像素传感器电路中目标电容的电压模拟信号；The current integrator is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit;
所述快门用于控制所述电流积分器的积分时间；The shutter is used to control the integration time of the current integrator;
所述模数转换器用于将所述目标电容的电压模拟信号转换为所述目标电压信号。The analog-to-digital converter is used to convert the voltage analog signal of the target capacitor into the target voltage signal.
优选地，所述目标电容具体为：设置在所述电压模式有源像素传感器电路内的独立电容或者所述电压模式有源像素传感器电路的寄生电容。Preferably, the target capacitance is specifically: an independent capacitance set in the voltage mode active pixel sensor circuit or the parasitic capacitance of the voltage mode active pixel sensor circuit.
优选地，所述电流模式有源像素传感器电路还包括：第一电流放大器、比较器、加法器和数模转换器；Preferably, the current mode active pixel sensor circuit further includes: a first current amplifier, a comparator, an adder, and a digital-to-analog converter;
所述感光器件与所述第一电流放大器相连，所述第一电流放大器与所述比较器的一个输入端相连；The photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to an input terminal of the comparator;
所述感光器件周围的指定数量个其他感光器件均分别与所述加法器的输入端相连，所述加法器的输出端与所述比较器的另一个输入端相连；A specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the other input terminal of the comparator;
所述比较器的输出端与所述数模转换器相连，所述数模转换器将输入的指定数字信号转换为指定模拟信号，并将所述指定模拟信号输出至所述第一电流放大器或者所述加法器，直至所述比较器的输出端输出事件脉冲信号，所述电流模式有源像素传感器电路输出所述指定数字信号。The output terminal of the comparator is connected to the digital-to-analog converter, and the digital-to-analog converter converts the 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 terminal of the comparator outputs an event pulse signal, and the current mode active pixel sensor circuit outputs the specified digital signal.
优选地，所述电流模式有源像素传感器电路还包括：第一电流放大器、加法器、差分电路和电压比较器；Preferably, the current mode active pixel sensor circuit further includes: a first current amplifier, an adder, a differential circuit and a voltage comparator;
所述感光器件与所述第一电流放大器相连，所述第一电流放大器与所述差分电路相连；The photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to the differential circuit;
所述感光器件周围的指定数量个其他感光器件均分别与所述加法器的输入端相连，所述加法器的输出端与所述差分电路相连，所述差分电路用于将所述第一电流放大器的输出结果以及所述加法器的输出 结果进行差分运算，并得到差分电压信号；A specified number of other photosensitive devices around the photosensitive device are respectively connected to the input end of the adder, and the output end of the adder is connected to the differential circuit, and the differential circuit is used to transfer the first current The output result of the amplifier and the output result of the adder are subjected to a differential operation, and a differential voltage signal is obtained;
所述差分电路与所述电压比较器相连，所述电压比较器用于根据所述差分电压信号，输出所述指定数字信号。The differential circuit is connected to the voltage comparator, and the voltage comparator is used to output the designated digital signal according to the differential voltage signal.
优选地，所述差分电路具体包括：差分子电路和积分采样子电路；Preferably, the differential circuit specifically includes: a differential numerator circuit and an integral sampling sub-circuit;
所述第一电流放大器以及所述加法器的输出端分别与所述差分子电路相连，所述差分子电路用于将第一电流放大器的输出结果与所述加法器的输出结果进行差分运算，得到差分电流信号；所述差分子电路与所述积分采样子电路相连，所述积分采样子电路用于将所述差分电流信号进行积分采样，得到差分电压信号。The output ends of the first current amplifier and the adder are respectively connected to the differential numerator circuit, and the differential numerator circuit is used to perform a differential operation between the output result of the first current amplifier and the output result of the adder, Obtain a differential current signal; the differential numerator circuit is connected to the integral sampling sub-circuit, and the integral sampling sub-circuit is used to perform integral sampling on the differential current signal to obtain a differential voltage signal.
优选地，所述电流模式有源像素传感器电路还包括：第二电流放大器；Preferably, the current mode active pixel sensor circuit further includes: a second current amplifier;
所述第二电流放大器连接在所述感光器件与所述第一电流放大器之间。The second current amplifier is connected between the photosensitive device and the first current amplifier.
优选地，所有所述目标电压信号和所有所述指定数字信号共同形成图像。Preferably, all the target voltage signals and all the designated digital signals jointly form an image.
优选地，所述视锥视杆复用式仿生视觉传感器还包括：两个存储单元；Preferably, the viewing cone and rod multiplexing type bionic vision sensor further includes: two storage units;
所述两个存储单元分别用于存储所述目标电压信号以及所述指定数字信号。The two storage units are respectively used to store the target voltage signal and the designated digital signal.
本发明实施例提供的一种视锥视杆复用式仿生视觉传感器，包括：预设数量个电压模式有源像素传感器电路和预设数量个电流模式有源像素传感器电路，一个电压模式有源像素传感器电路和一个电流模式有源像素传感器电路共用一个感光器件。通过电压模式有源像素传感器，可以输出表征目标光信号中的光强信息的目标电压信号，得到的目标电压信号表征光强信息的精度更高，可以得到更高质量的图像，即图像具有更高的图像信噪比。而且，通过电流模式有源像素传感器，可以输出表征目标光信号中的光强梯度信息的指定数字信号，一方面， 可以快速得到指定数字信号，使得到图像的速度更快；另一方面，由于指定数字信号表征光强梯度信息，可以提高图像的动态范围。如此可以实现视锥视杆复用式仿生视觉传感器的双模态输出模式，同时保证视锥视杆复用式仿生视觉传感器的图像质量，动态范围与拍摄速度等性能指标，使视锥视杆复用式仿生视觉传感器的稳定性和鲁棒性更强，能够适应不同的拍摄场景，应用范围更广。An embodiment of the present invention provides a cone-rod multiplexing type bionic vision sensor, including: a preset number of voltage mode active pixel sensor circuits and a preset number of current mode active pixel sensor circuits, one active pixel sensor circuit in voltage mode The pixel sensor circuit and a current mode active pixel sensor circuit share a photosensitive device. Through the voltage mode active pixel sensor, the target voltage signal that characterizes the light intensity information in the target light signal can be output, and the obtained target voltage signal has higher accuracy in characterizing the light intensity information, and higher quality images can be obtained, that is, the image has more High image signal-to-noise ratio. Moreover, the current mode active pixel sensor can output a designated digital signal that characterizes the light intensity gradient information in the target light signal. On the one hand, the designated digital signal can be quickly obtained, so that the image can be obtained faster; on the other hand, due to The designated digital signal represents the light intensity gradient information, which can improve the dynamic range of the image. In this way, the dual-mode output mode of the cone and rod multiplexed bionic vision sensor can be realized, and the image quality, dynamic range and shooting speed of the cone and rod multiplexed bionic vision sensor can be guaranteed. The multiplexed bionic vision sensor is more stable and robust, can adapt to different shooting scenarios, and has a wider application range.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.
图1为本发明实施例提供的一种视锥视杆复用式仿生视觉传感器的结构示意图；FIG. 1 is a schematic structural diagram of a viewing cone and rod multiplexing type bionic vision sensor according to an embodiment of the present invention;
图2为本发明实施例提供的一种视锥视杆复用式仿生视觉传感器中与所有感光器件相对应的像素阵列的结构示意图；2 is a schematic structural diagram of a pixel array corresponding to all photosensitive devices in a viewing cone and rod multiplexed bionic vision sensor according to an embodiment of the present invention;
图3为本发明实施例提供的一种视锥视杆复用式仿生视觉传感器中与所有感光器件相对应的像素阵列的结构示意图；3 is a schematic structural diagram of a pixel array corresponding to all photosensitive devices in a viewing cone and rod multiplexed bionic vision sensor according to an embodiment of the present invention;
图4为本发明实施例提供的一种视锥视杆复用式仿生视觉传感器的电路细节示意图；4 is a schematic diagram of circuit details of a frustum and rod multiplexed bionic vision sensor according to an embodiment of the present invention;
图5为本发明实施例提供的一种视锥视杆复用式仿生视觉传感器的电路中输入至数模转换器的指定数字信号的变化形式示意图；5 is a schematic diagram of a change form of a designated digital signal input to a digital-to-analog converter in a circuit of a viewing cone and rod multiplexed bionic vision sensor according to an embodiment of the present invention;
图6为本发明实施例提供的一种视锥视杆复用式仿生视觉传感器的结构示意图。FIG. 6 is a schematic structural diagram of a viewing cone and rod multiplexing type bionic vision sensor provided by an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
本发明实施例提供了一种视锥视杆复用式仿生视觉传感器，包括：预设数量个电压模式有源像素传感器电路和所述预设数量个电流模式有源像素传感器电路；The embodiment of the present invention provides a frustum and rod multiplexing type bionic vision sensor, including: a preset number of voltage mode active pixel sensor circuits and the preset number of current mode active pixel sensor circuits;
所述电压模式有源像素传感器电路和所述电流模式有源像素传感器电路共用一个感光器件，所述感光器件用于获取目标光信号，并将所述目标光信号转换为电流信号，所述电压模式有源像素传感器电路用于基于所述电流信号，输出表征所述目标光信号中的光强信息的目标电压信号；所述电流模式有源像素传感器电路用于基于所述电流信号，输出表征所述目标光信号中的光强梯度信息的指定数字信号。The voltage mode active pixel sensor circuit and the current mode active pixel sensor circuit share a photosensitive device, and the photosensitive device is used to obtain a target light signal and convert the target light signal into a current signal. The mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal; the current mode active pixel sensor circuit is used to output a characterization based on the current signal The designated digital signal of the light intensity gradient information in the target light signal.
具体地，本发明实施例中提供的视锥视杆复用式仿生视觉传感器中包括预设数量个感光器件，所有的感光器件均相同，作用也相同，均是用于获取目标光信号，并将获取到的目标光信号转换为电流信号。Specifically, the viewing cone and rod multiplexed bionic vision sensor provided in the embodiment of the present invention includes a preset number of photosensitive devices, all of which are the same and have the same function. They are all used to obtain the target light signal, and Convert the acquired target light signal into a current signal.
目标光信号是指目标物体表面反射的光信号，目标光信号可以直接照射在感光器件上，也可以是通过准直透镜照射在感光器件上，还可以是透过覆盖物照射在感光器件上。目标光信号的波段可以是可见光波段，即目标光信号可以为可见光信号。目标物体是指需要人眼观察的物体，可以是实物，也可以是图像，或者其他形式，本发明中不对目标物体的具体形态进行限定。The target light signal refers to the light signal reflected on the surface of the target object. The target light signal can be irradiated directly on the photosensitive device, or irradiated on the photosensitive device through a collimator lens, or irradiated on the photosensitive device through a cover. The waveband of the target light signal may be a visible light waveband, that is, the target light signal may be a visible light signal. The target object refers to an object that needs to be observed by the human eye, which may be a real object, an image, or other forms, and the specific form of the target object is not limited in the present invention.
本发明实施例中提供的视锥视杆复用式仿生视觉传感器中每个感光器件对应两个控制电路，即视锥视杆复用式仿生视觉传感器中包括预设数量个电压模式有源像素传感器电路和预设数量个电流模式有源 像素传感器电路，电压模式有源像素传感器电路相当于人眼视网膜的视锥细胞，电流模式有源像素传感器电路相当于人眼视网膜的视杆细胞。Each photosensitive device in the cone-and-rod multiplexed bionic vision sensor provided in the embodiment of the present invention corresponds to two control circuits, that is, the cone-and-rod multiplexed bionic vision sensor includes a preset number of voltage mode active pixels The sensor circuit and a preset number of current mode active pixel sensor circuits, the voltage mode active pixel sensor circuit is equivalent to the cone cells of the human eye retina, and the current mode active pixel sensor circuit is equivalent to the rod cell of the human eye retina.
一个电压模式有源像素传感器电路和一个电流模式有源像素传感器电路共用一个感光器件，共同对一个感光器件进行控制。电压模式有源像素传感器电路用于基于感光器件转换得到的电流信号，输出表征目标光信号中的光强信息的目标电压信号；电流模式有源像素传感器电路用于基于感光器件转换得到的电流信号，输出表征目标光信号中的光强梯度信息的指定数字信号。A voltage mode active pixel sensor circuit and a current mode active pixel sensor circuit share a photosensitive device, and jointly control a photosensitive device. The voltage mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal converted by the photosensitive device; the current mode active pixel sensor circuit is used to output the current signal obtained based on the conversion of the photosensitive device , Output a designated digital signal that characterizes the light intensity gradient information in the target light signal.
需要说明的是，电压模式有源像素传感器电路是指工作模式为电压模式的有源像素传感器(Active Pixel Sensor，APS)电路，也即在其中的感光器件在转换得到电流信号后，需要对电流信号进行积分，得到目标电压信号。而电流模式有源像素传感器电路是指工作模式为电流模式的APS电路，也即在其中的感光器件在转换得到电流信号后，并不需要直接对电流信号进行积分，而是做其他处理。It should be noted that the voltage mode active pixel sensor circuit refers to the active pixel sensor (Active Pixel Sensor, APS) circuit whose working mode is the voltage mode, that is, the photosensitive device in it needs to correct the current after converting the current signal. The signal is integrated to obtain the target voltage signal. The current mode active pixel sensor circuit refers to the APS circuit whose working mode is the current mode, that is, after the photosensitive device in it converts the current signal, it does not need to directly integrate the current signal, but does other processing.
如图1所示，为本发明实施例中提供的视锥视杆复用式仿生视觉传感器的结构示意图，图1中Vcc1和Vcc2分别为第一电源和第二电源，Vcc1和Vcc2具体可以均为3.3V。Vcc1、感光器件11以及左侧支路构成电压模式有源像素传感器电路，Vcc1、感光器件11以及右侧支路构成电流模式有源像素传感器电路。As shown in Figure 1, it is a schematic diagram of the structure of the frustum and rod multiplexed bionic vision sensor provided in the embodiment of the present invention. In Figure 1, Vcc1 and Vcc2 are the first power supply and the second power supply, respectively. It is 3.3V. Vcc1, photosensitive device 11 and the left side branch constitute a voltage mode active pixel sensor circuit, and Vcc1, photosensitive device 11 and the right side branch constitute a current mode active pixel sensor circuit.
本发明实施例中提供的视锥视杆复用式仿生视觉传感器，包括：预设数量个电压模式有源像素传感器电路和预设数量个电流模式有源像素传感器电路，一个电压模式有源像素传感器电路和一个电流模式有源像素传感器电路共用一个感光器件。通过电压模式有源像素传感器，可以输出表征目标光信号中的光强信息的目标电压信号，得到的目标电压信号表征光强信息的精度更高，可以得到更高质量的图像，即图像具有更高的图像信噪比。而且，通过电流模式有源像素传感器， 可以输出表征目标光信号中的光强梯度信息的指定数字信号，一方面，可以快速得到指定数字信号，使得到图像的速度更快；另一方面，由于指定数字信号表征光强梯度信息，可以提高图像的动态范围。如此可以实现视锥视杆复用式仿生视觉传感器的双模态输出模式，同时保证视锥视杆复用式仿生视觉传感器的图像质量，动态范围与拍摄速度等性能指标，使视锥视杆复用式仿生视觉传感器的稳定性和鲁棒性更强，能够适应不同的拍摄场景，应用范围更广。The cone and rod multiplexed bionic vision sensor provided in the embodiment of the present invention includes: a preset number of voltage mode active pixel sensor circuits and a preset number of current mode active pixel sensor circuits, one voltage mode active pixel The sensor circuit and a current mode active pixel sensor circuit share a photosensitive device. Through the voltage mode active pixel sensor, the target voltage signal that characterizes the light intensity information in the target light signal can be output, and the obtained target voltage signal has higher accuracy in characterizing the light intensity information, and higher quality images can be obtained, that is, the image has more High image signal-to-noise ratio. Moreover, the current mode active pixel sensor can output a designated digital signal that characterizes the light intensity gradient information in the target light signal. On the one hand, the designated digital signal can be obtained quickly, making the image faster; on the other hand, due to The designated digital signal represents the light intensity gradient information, which can improve the dynamic range of the image. In this way, the dual-mode output mode of the cone and rod multiplexed bionic vision sensor can be realized, and the image quality, dynamic range and shooting speed of the cone and rod multiplexed bionic vision sensor can be guaranteed. The multiplexed bionic vision sensor is more stable and robust, can adapt to different shooting scenarios, and has a wider application range.
在上述实施例的基础上，本发明实施例中提供的视锥视杆复用式仿生视觉传感器，所述感光器件包括光电二极管。On the basis of the above-mentioned embodiments, in the embodiment of the present invention, the viewing cone and rod multiplexing type bionic vision sensor is provided, and the photosensitive device includes a photodiode.
具体地，本发明实施例中，感光器件由光电二极管(Photo-Diode，PD)组成，其中并不包含滤色器，光电二极管的响应曲线也是一致的，可以对灰度信号进行感知，最终由视锥视杆复用式仿生视觉传感器得到的图像是灰度图像。Specifically, in the embodiment of the present invention, the photosensitive device is composed of a photo-diode (PD), which does not include a color filter, and the response curve of the photo-diode is also consistent, which can perceive gray-scale signals. The image obtained by the frustum and rod multiplexed bionic vision sensor is a grayscale image.
一般情况下，视锥视杆复用式仿生视觉传感器中一个感光器件与一个像素相对应，视锥视杆复用式仿生视觉传感器中所有感光器件与像素阵列相对应。也就是说，视锥视杆复用式仿生视觉传感器中每个感光器件与相对应在像素阵列中的像素是一一对应的。本发明实施例中，与所有感光器件相对应的像素阵列具体可以如图2和图3所示，图2和图3中每个圆圈均表示一个像素。图2中，像素21周围具有3个其他像素22，图3中，像素31周围具有4个其他像素。图2中每个像素周围均有3个其他像素，图3中每个像素周围均有4个其他像素，则图2的像素阵列相比于图3的像素阵列，在像素阵列中像素数量一定的情况下，集成度更高。而图3的像素阵列相比于图2的像素阵列，由于每个像素可以感知到与周围4个其他像素之间的空间梯度信号，可以使视锥视杆复用式仿生视觉传感器输出的图像质量更好。In general, one photosensitive device in the cone and rod multiplexed bionic vision sensor corresponds to one pixel, and all photosensitive devices in the cone and rod multiplexed bionic vision sensor correspond to the pixel array. In other words, each photosensitive device in the viewing cone and rod multiplexed bionic vision sensor has a one-to-one correspondence with the corresponding pixels in the pixel array. In the embodiment of the present invention, the pixel arrays corresponding to all photosensitive devices may be specifically shown in FIGS. 2 and 3, and each circle in FIGS. 2 and 3 represents a pixel. In FIG. 2, there are 3 other pixels 22 around the pixel 21, and in FIG. 3, there are 4 other pixels around the pixel 31. There are 3 other pixels around each pixel in Fig. 2 and 4 other pixels around each pixel in Fig. 3. Compared with the pixel array in Fig. 3, the pixel array of Fig. 2 has a certain number of pixels. In the case of a higher level of integration. The pixel array of Figure 3 is compared with the pixel array of Figure 2. Since each pixel can perceive the spatial gradient signal with the surrounding 4 other pixels, it can make the cone and rod multiplexed bionic vision sensor output image better quality.
本发明实施例中，采用图2和图3所示的像素阵列的排列方式，既实现了低速光强信号的获取，还实现了高速空间梯度信号的获取， 保证了图像质量、获取的速度与图像的动态范围。In the embodiment of the present invention, the arrangement of the pixel array shown in Figs. 2 and 3 is adopted, which not only realizes the acquisition of low-speed light intensity signals, but also realizes the acquisition of high-speed spatial gradient signals, ensuring image quality, acquisition speed and The dynamic range of the image.
在上述实施例的基础上，本发明实施例中提供的视锥视杆复用式仿生视觉传感器，所述电压模式有源像素传感器电路还包括：电流积分器、快门以及模数转换器；On the basis of the above-mentioned embodiments, according to the embodiment of the present invention, the cone and rod multiplexing type bionic vision sensor, the voltage mode active pixel sensor circuit further includes: a current integrator, a shutter, and an analog-to-digital converter;
所述电流积分器用于获取所述电压模式有源像素传感器电路中目标电容的电压模拟信号；The current integrator is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit;
所述快门用于控制所述电流积分器的积分时间；The shutter is used to control the integration time of the current integrator;
所述模数转换器用于将所述目标电容的电压模拟信号转换为所述目标电压信号。The analog-to-digital converter is used to convert the voltage analog signal of the target capacitor into the target voltage signal.
具体地，如图1所示，本发明实施例中提供的视锥视杆复用式仿生视觉传感器中电压模式有源像素传感器电路中包括感光器件11，感光器件11具体为PD。电压模式有源像素传感器电路中还包括：电流积分器(Current Integrator，CI)12、快门14以及模数转换器(Analog-to-Digital Converter，ADC)13。CI12用于获取电压模式有源像素传感器电路中目标电容的电压模拟信号；ADC13用于将所述目标电容的电压模拟信号转换为所述目标电压信号。快门14用于控制CI12的积分时间。例如，快门14控制CI12的积分时间为33ms，则33ms后，快门14闭合，CI12得到目标电容的电压模拟信号，并由ADC13读出。本发明实施例中还可以在ADC13后连接一存储单元，将ADC13读出的目标电容的电压模拟信号存储在存储单元中。ADC13后连接的存储单元具体可以是寄存器、锁存器、SRAM、DRAM、忆阻器等。以寄存器为例，寄存器的位数可以根据ADC13的精度进行选择，本发明实施例中在此可选择8位寄存器存储目标电容的电压模拟信号。在ADC13读出动作完成后，还可以断开快门13，继续使CI12对目标电容的电流进行积分。循环上述步骤可以完成对视频信号的获取。Specifically, as shown in FIG. 1, the voltage-mode active pixel sensor circuit in the cone and rod multiplexed bionic vision sensor provided in the embodiment of the present invention includes a photosensitive device 11, and the photosensitive device 11 is specifically a PD. The voltage mode active pixel sensor circuit also includes: a current integrator (CI) 12, a shutter 14 and an analog-to-digital converter (ADC) 13. CI12 is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit; ADC13 is used to convert the voltage analog signal of the target capacitor into the target voltage signal. The shutter 14 is used to control the integration time of CI12. For example, if the integration time of CI12 controlled by shutter 14 is 33ms, then after 33ms, shutter 14 is closed, CI12 obtains the voltage analog signal of the target capacitor, which is read by ADC13. In the embodiment of the present invention, a storage unit may be connected after the ADC 13 to store the voltage analog signal of the target capacitor read by the ADC 13 in the storage unit. The storage unit connected after ADC13 may specifically be a register, a latch, SRAM, DRAM, a memristor, etc. Taking a register as an example, the number of bits of the register can be selected according to the accuracy of the ADC13. In this embodiment of the present invention, an 8-bit register can be selected to store the voltage analog signal of the target capacitor. After the ADC13 readout operation is completed, the shutter 13 can also be opened and the CI12 continues to integrate the current of the target capacitor. Repeat the above steps to complete the acquisition of the video signal.
在上述实施例的基础上，本发明实施例中提供的视锥视杆复用式仿生视觉传感器，所述目标电容具体为：设置在所述电压模式有源像 素传感器电路内的独立电容或者所述电压模式有源像素传感器电路的寄生电容。On the basis of the above-mentioned embodiment, in the frustum-rod multiplexed bionic vision sensor provided in the embodiment of the present invention, the target capacitance is specifically: an independent capacitance or a set in the voltage mode active pixel sensor circuit. The parasitic capacitance of the voltage mode active pixel sensor circuit is described.
具体地，本发明实施例中所说的目标电容具体可以是电压模式有源像素传感器电路的寄生电容，也可以是在电压模式有源像素传感器电路内额外引入的一个独立电容，该独立电容与光电二极管串联。Specifically, the target capacitance mentioned in the embodiment of the present invention may specifically be the parasitic capacitance of the voltage mode active pixel sensor circuit, or it may be an additional independent capacitance introduced in the voltage mode active pixel sensor circuit. The photodiodes are connected in series.
本发明实施例中，将电压模式有源像素传感器电路的寄生电容作为目标电容，可以节约额外引入一个独立电容产生的成本。In the embodiment of the present invention, the parasitic capacitance of the voltage mode active pixel sensor circuit is used as the target capacitance, which can save the cost of introducing an additional independent capacitance.
在上述实施例的基础上，本发明实施例中提供的视锥视杆复用式仿生视觉传感器，所述电流模式有源像素传感器电路还包括：第一电流放大器、比较器、加法器和数模转换器；On the basis of the above-mentioned embodiments, in the frustum-rod multiplexed bionic vision sensor provided in the embodiments of the present invention, the current-mode active pixel sensor circuit further includes: a first current amplifier, a comparator, an adder, and a digital Analog converter
所述感光器件与所述第一电流放大器相连，所述第一电流放大器与所述比较器的一个输入端相连；The photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to an input terminal of the comparator;
所述感光器件周围的指定数量个其他感光器件均分别与所述加法器的输入端相连，所述加法器的输出端与所述比较器的另一个输入端相连；A specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the other input terminal of the comparator;
所述比较器的输出端与所述数模转换器相连，所述数模转换器将输入的指定数字信号转换为指定模拟信号，并将所述指定模拟信号输出至所述第一电流放大器或者所述加法器，直至所述比较器的输出端输出事件脉冲信号，所述电流模式有源像素传感器电路输出所述指定数字信号，所述指定数字信号用于表征所述目标光信号中的光强梯度信息。The output terminal of the comparator is connected to the digital-to-analog converter, and the digital-to-analog converter converts the 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 terminal of the comparator outputs an event pulse signal, the current mode active pixel sensor circuit outputs the designated digital signal, and the designated digital signal is used to characterize the light in the target light signal. Strong gradient information.
具体地，如图1所示，电流模式有源像素传感器电路中包括感光器件11，电流模式有源像素传感器电路中还包括：第一电流放大器15、比较器16、加法器17和数模转换器(Digital to Analog Converter，DAC)18。感光器件11与第一电流放大器15相连，第一电流放大器15用于对感光器件11转换得到的电流信号进行放大，放大的倍数为指定数量，即放大的倍数与感光器件11周围的其他感光器件的数量相等，以保证 放大后的电流信号与感光器件11周围指定数量个其他感光器件转换得到的电流信号之和在同一量级上。如图2和图3所示，指定数量为3或4。本发明实施例中以指定数量等于4为例进行说明。Specifically, as shown in FIG. 1, the current mode active pixel sensor circuit includes a photosensitive device 11, and the current mode active pixel sensor circuit also includes: a first current amplifier 15, a comparator 16, an adder 17, and a digital-to-analog converter器(Digital to Analog Converter, DAC)18. The photosensitive device 11 is connected to a first current amplifier 15. The first current amplifier 15 is used to amplify the current signal converted by the photosensitive device 11. The amplification factor is a specified number, that is, the amplification factor is the same as other photosensitive devices around the photosensitive device 11. The number of is equal to ensure that the amplified current signal is at the same magnitude as the sum of the current signals converted by a specified number of other photosensitive devices around the photosensitive device 11. As shown in Figure 2 and Figure 3, the designated number is 3 or 4. In the embodiment of the present invention, the specified number is equal to 4 as an example for description.
第一电流放大器15与比较器16的一个输入端相连，将放大后的电流信号输入至比较器16中。感光器件11周围的4个其他感光器件均分别与加法器17的输入端相连，加法器17的输出端与比较器17的另一个输入端相连。4个其他感光器件转换得到的电流信号I 1、I 2、I 3、I 4分别输入至加法器17，由加法器17对I 1、I 2、I 3、I 4进行求和，并将求和结果输入至比较器16。由比较器16对放大后的电流信号以及加法器17的求和结果进行比较。当前一时刻与当前时刻的比较结果一致，则不做输出，由DAC18将输入的指定数字信号转换为指定模拟信号，并将指定模拟信号输出至第一电流放大器15或者加法器17，输出至第一电流放大器15的指定模拟信号记为I DA2，输出至加法器17的指定模拟信号记为I DA1。输出后再通过比较器16进行比较，当前一时刻与后一时刻的比较结果相反时，由比较器16的输出端输出事件脉冲信号，即比较器16处于边沿触发状态，此时所述电流模式有源像素传感器电路输出指定数字信号，指定数字信号用于表征目标光信号中的光强梯度信息。其中，DAC18输出的指定数字信号是一种用0和1表示的数字信号。 The first current amplifier 15 is connected to an input terminal of the comparator 16 and inputs the amplified current signal into the comparator 16. The four other photosensitive devices around the photosensitive device 11 are respectively connected to the input terminal of the adder 17, and the output terminal of the adder 17 is connected to the other input terminal of the comparator 17. The current signals I 1 , I 2 , I 3 , and I 4 obtained by the conversion of 4 other photosensitive devices are input to the adder 17 respectively, and the adder 17 sums I 1 , I 2 , I 3 , and I 4 , and The sum result is input to the comparator 16. The comparator 16 compares the amplified current signal and the sum result of the adder 17. If the comparison result between the current moment and the current moment is consistent, no output is made. The DAC18 converts the input designated digital signal into a designated analog signal, and outputs the designated analog signal to the first current amplifier 15 or the adder 17, and then outputs it to the first current amplifier 15 or the adder 17. The designated analog signal of a current amplifier 15 is denoted as I DA2 , and the designated analog signal output to the adder 17 is denoted as I DA1 . After output, the comparator 16 is used for comparison. When the comparison result at the current moment and the latter moment are opposite, the output terminal of the comparator 16 outputs the event pulse signal, that is, the comparator 16 is in the edge trigger state, and the current mode The active pixel sensor circuit outputs a designated digital signal, and the designated digital signal is used to characterize the light intensity gradient information in the target light signal. Among them, the designated digital signal output by the DAC18 is a digital signal represented by 0 and 1.
需要说明的是，本发明实施例中的加法器可以是实际的器件，也可以是实现加法功能的功能模块，例如可以通过将电流信号I 1、I 2、I 3、I 4所在的线路合并成一条线路实现。而且，第一电流放大器也可以是实际的器件，也可以是实现电流放大功能的功能模块，本发明实施例中对此不作具体限定。 It should be noted that the adder in the embodiment of the present invention can be an actual device or a functional module that realizes the addition function. For example, it can be achieved by combining the lines where the current signals I 1 , I 2 , I 3 , and I 4 are located. Realize as a line. Moreover, the first current amplifier may also be an actual device or a functional module that realizes the current amplifying function, which is not specifically limited in the embodiment of the present invention.
本发明实施例中还可以使DAC18连接一存储单元，将电流模式有源像素传感器电路输出的指定数字信号存储在存储单元中。DAC18连接的存储单元具体可以是寄存器、锁存器、SRAM、DRAM、忆阻器等。 以寄存器为例，寄存器的位数可以根据DAC18的精度进行选择，本发明实施例中在此可选择4位寄存器。In the embodiment of the present invention, the DAC 18 can also be connected to a storage unit, and the designated digital signal output by the current mode active pixel sensor circuit can be stored in the storage unit. The storage unit connected to the DAC18 may specifically be a register, a latch, SRAM, DRAM, a memristor, and so on. Taking a register as an example, the number of bits of the register can be selected according to the accuracy of the DAC18. In the embodiment of the present invention, a 4-bit register can be selected here.
如图4所示，为本发明实施例中提供的视锥视杆复用式仿生视觉传感器的电路细节示意图，与图1相对应。图4中，电路结构41为电压模式有源像素传感器电路，电路结构42为电流模式有源像素传感器电路，其中包含了一个电流模式有源像素传感器电路与周围其他电流模式有源像素传感器电路之间的关联关系。图4中，电路结构41中包括两个电源，均为3.3V，电路结构42中包括一个电源，为3.3V。电路结构41和电路结构42共用一个感光器件48。As shown in FIG. 4, it is a detailed schematic diagram of the circuit of the viewing cone and rod multiplexing type bionic vision sensor provided in the embodiment of the present invention, which corresponds to FIG. 1. In Figure 4, the circuit structure 41 is a voltage mode active pixel sensor circuit, and the circuit structure 42 is a current mode active pixel sensor circuit, which includes a current mode active pixel sensor circuit and other surrounding current mode active pixel sensor circuits. The relationship between them. In FIG. 4, the circuit structure 41 includes two power supplies, both of which are 3.3V, and the circuit structure 42 includes one power supply, which is 3.3V. The circuit structure 41 and the circuit structure 42 share a photosensitive device 48.
电路结构41中，MOS管43用于实现CS选通，MOS管44用于起偏置作用，MOS管45用于起快门作用，MOS管46用于对感光器件48转换得到的电流信号进行电流积分，电容47用于起保护电路作用。MOS管43与寻址单元415连接，寻址单元415与ADC416连接，ADC416与存储单元417连接。电路结构41和电路结构42之间通过MOS管418连接。寻址单元415用于对存储单元417进行寻址以存储ADC416转换得到的目标电压信号。In the circuit structure 41, the MOS tube 43 is used to achieve CS gating, the MOS tube 44 is used for biasing, the MOS tube 45 is used for shuttering, and the MOS tube 46 is used for current signal converted by the photosensitive device 48. Integral, the capacitor 47 is used to protect the circuit. The MOS transistor 43 is connected to the addressing unit 415, the addressing unit 415 is connected to the ADC 416, and the ADC 416 is connected to the storage unit 417. The circuit structure 41 and the circuit structure 42 are connected through a MOS tube 418. The addressing unit 415 is used for addressing the storage unit 417 to store the target voltage signal converted by the ADC 416.
电路结构42中，感光器件48与MOS管49连接，MOS管49与MOS管410连接且形成电流镜，通过改变MOS管410的沟道宽度，可以使感光器件48转换得到的电流信号I c与MOS管410中和感光器件48镜像对应的一端的电流信号大小具有指定数量P的倍数关系，即MOS管410中和感光器件48镜像对应的一端的电流为P*I c。 In the circuit structure 42, the photosensitive device 48 is connected to the MOS tube 49, and the MOS tube 49 is connected to the MOS tube 410 to form a current mirror. By changing the channel width of the MOS tube 410, the current signal I c converted by the photosensitive device 48 can be compared with The magnitude of the current signal at the end corresponding to the mirror image of the photosensitive device 48 in the MOS tube 410 has a multiple relationship of a specified number P, that is, the current at the end corresponding to the mirror image of the photosensitive device 48 in the MOS tube 410 is P*I c .
实际上，感光器件周围的4个其他感光器件转换得到的电流信号分别为I 1、I 2、I 3、I 4，缩小P＝4倍后分别为I 1/4、I 2/4、I 3/4、I 4/4。比较器411与寻址单元412连接，且寻址单元412分别与DAC414和存储单元413连接。需要说明的是，DAC414的输入可以是人为输入的一个周期性增加的指定数字信号，具体可以呈阶梯型递增。寻址单元412用于在比较器411的输出端输出事件脉冲信号时，即比较器411处于 边沿触发状态，对存储单元413进行寻址以存储电流模式有源像素传感器电路的输出结果。本发明实施例中通过比较器411实现对电流模式有源像素传感器电路的输出动作的控制，当比较器411的输出端输出事件脉冲信号时，即比较器411处于边沿触发状态，电流模式有源像素传感器电路输出此时的指定数字信号，此时的指定数字信号用于表征目标光信号中的光强梯度信息。存储单元413具体可以是寄存器、锁存器、SRAM、DRAM、忆阻器等。以寄存器为例，寄存器的位数与DAC414的精度有关，本发明实施例中可以采用4位寄存器。 In fact, the current signals converted by the four other photosensitive devices around the photosensitive device are respectively I 1 , I 2 , I 3 , and I 4 , which are respectively I 1 /4, I 2 /4, and I after reducing P=4 times. 3 /4, I 4 /4. The comparator 411 is connected to the addressing unit 412, and the addressing unit 412 is connected to the DAC 414 and the storage unit 413, respectively. It should be noted that the input of the DAC414 may be a specified digital signal that is artificially inputted periodically, and may specifically increase in a stepwise manner. The addressing unit 412 is used to address the storage unit 413 to store the output result of the current mode active pixel sensor circuit when the event pulse signal is output at the output terminal of the comparator 411, that is, the comparator 411 is in an edge trigger state. In the embodiment of the present invention, the comparator 411 is used to control the output action of the current mode active pixel sensor circuit. When the output terminal of the comparator 411 outputs the event pulse signal, that is, the comparator 411 is in the edge trigger state, and the current mode is active. The pixel sensor circuit outputs the designated digital signal at this time, and the designated digital signal at this time is used to characterize the light intensity gradient information in the target light signal. The storage unit 413 may specifically be a register, a latch, an SRAM, a DRAM, a memristor, and so on. Taking a register as an example, the number of bits of the register is related to the accuracy of the DAC414, and a 4-bit register may be used in the embodiment of the present invention.
其中，输入至DAC414的指定数字信号的变化形式具体如图5所示，指定数字信号具体随时间呈阶梯型递增，当某一时刻N*step时，指定数字信号取值为ΔI，比较器411输出事件脉冲信号，即比较器411处于边沿触发状态，则将此时的ΔI作为电流模式有源像素传感器电路输出的输出。其中，N为此前经过的台阶数，step为每一台阶经过的时长。Among them, the change form of the designated digital signal input to the DAC414 is shown in Fig. 5. The designated digital signal increases stepwise with time. At a certain time N*step, the designated digital signal takes the value ΔI, and the comparator 411 When the event pulse signal is output, that is, the comparator 411 is in the edge-triggered state, the ΔI at this time is used as the output of the current mode active pixel sensor circuit. Among them, N is the number of steps passed before, and step is the time length of each step.
在上述实施例的基础上，本发明实施例中提供的视锥视杆复用式仿生视觉传感器，所述电流模式有源像素传感器电路还包括：第一电流放大器、加法器、差分电路和电压比较器；On the basis of the above-mentioned embodiment, in the embodiment of the present invention, the cone and rod multiplexing type bionic vision sensor, the current mode active pixel sensor circuit further includes: a first current amplifier, an adder, a differential circuit, and a voltage Comparators;
所述感光器件与所述第一电流放大器相连，所述第一电流放大器与所述差分电路相连；The photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to the differential circuit;
所述感光器件周围的指定数量个其他感光器件均分别与所述加法器的输入端相连，所述加法器的输出端与所述差分电路相连，所述差分电路用于将所述第一电流放大器的输出结果以及所述加法器的输出结果进行差分运算，并得到差分电压信号；A specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the differential circuit, and the differential circuit is used to transfer the first current The output result of the amplifier and the output result of the adder are subjected to a differential operation, and a differential voltage signal is obtained;
所述差分电路与所述电压比较器相连，所述电压比较器用于根据所述差分电压信号，输出所述指定数字信号。The differential circuit is connected to the voltage comparator, and the voltage comparator is used to output the designated digital signal according to the differential voltage signal.
具体地，本发明实施例中，输出用于表征目标光信号中的光强梯度信息的指定数字信号时，还可以利用差分电路和电压比较器替换图1 中的比较器16和DAC18。即得到如图6所示的视锥视杆复用式仿生视觉传感器的结构示意图。第一电流放大器15与差分电路19相连。Specifically, in the embodiment of the present invention, when outputting a designated digital signal used to characterize the light intensity gradient information in the target optical signal, a differential circuit and a voltage comparator can also be used to replace the comparator 16 and the DAC 18 in FIG. 1. That is, the structure schematic diagram of the viewing cone and rod multiplexing type bionic vision sensor as shown in FIG. 6 is obtained. The first current amplifier 15 is connected to the differential circuit 19.
感光器件11周围的4个其他感光器件均分别与加法器17的输入端相连，将转换得到的电流信号I 1、I 2、I 3、I 4注入至加法器17，加法器17的输出端与差分电路19相连，差分电路19用于将第一电流放大器15的输出结果以及加法器17的输出结果进行差分运算，并得到差分电压信号。差分电路19与电压比较器110相连，电压比较器110用于根据差分电路19得到的差分电压信号，输出指定数字信号。 The four other photosensitive devices around the photosensitive device 11 are respectively connected to the input end of the adder 17, and the converted current signals I 1 , I 2 , I 3 , and I 4 are injected into the adder 17, and the output end of the adder 17 Connected to the differential circuit 19, the differential circuit 19 is used to perform a differential operation on the output result of the first current amplifier 15 and the output result of the adder 17, and obtain a differential voltage signal. The differential circuit 19 is connected to a voltage comparator 110, and the voltage comparator 110 is used to output a designated digital signal according to the differential voltage signal obtained by the differential circuit 19.
需要说明的是，电压比较器是对输入的差分电压信号进行鉴别与比较的电路，是组成非正弦波发生电路的基本单元电路。本发明实施例中可采用的电压比较器有单限比较器、滞回比较器、窗口比较器、三态电压比较器等。电压比较器110根据输入的差分电压信号，对差分电压信号进行选择，通常电压比较器设置有两个阈值，阈值1为上阈值，阈值2为下阈值，只有差分电压信号的脉冲值超过这两个阈值中的一个才会输出指定数字信号。It should be noted that the voltage comparator is a circuit that discriminates and compares the input differential voltage signal, and is a basic unit circuit that forms a non-sine wave generating circuit. The voltage comparators that can be used in the embodiments of the present invention include single-limit comparators, hysteresis comparators, window comparators, and three-state voltage comparators. The voltage comparator 110 selects the differential voltage signal according to the input differential voltage signal. Generally, the voltage comparator is set with two thresholds. Threshold 1 is the upper threshold, and Threshold 2 is the lower threshold. Only the pulse value of the differential voltage signal exceeds these two thresholds. Only one of these thresholds will output the specified digital signal.
在上述实施例的基础上，本发明实施例中的视锥视杆复用式仿生视觉传感器，所述差分电路具体包括：差分子电路和积分采样子电路；On the basis of the above-mentioned embodiment, in the embodiment of the present invention, the cone and rod multiplexing type bionic vision sensor, the differential circuit specifically includes: a differential numerator circuit and an integral sampling sub-circuit;
所述第一电流放大器以及所述加法器的输出端分别与所述差分子电路相连，所述差分子电路用于将第一电流放大器的输出结果与所述加法器的输出结果进行差分运算，得到差分电流信号；所述差分子电路与所述积分采样子电路相连，所述积分采样子电路用于将所述差分电流信号进行积分采样，得到差分电压信号。The output ends of the first current amplifier and the adder are respectively connected to the differential numerator circuit, and the differential numerator circuit is used to perform a differential operation between the output result of the first current amplifier and the output result of the adder, Obtain a differential current signal; the differential numerator circuit is connected to the integral sampling sub-circuit, and the integral sampling sub-circuit is used to perform integral sampling on the differential current signal to obtain a differential voltage signal.
具体地，由于本发明实施例中采用的电压比较器是对电压信号的比较，所以差分电路需要包括差分子电路和积分采样子电路这两个子电路，且差分子电路与积分采样子电路相连。首先由差分子电路将第一电流放大器的输出结果与加法器的输出结果进行差分运算，得到差分电流信号，然后由所述积分采样子电路将差分电流信号进行积分采 样，得到差分电压信号。Specifically, since the voltage comparator used in the embodiment of the present invention compares voltage signals, the differential circuit needs to include two sub-circuits, the differential numerator circuit and the integral sampling sub-circuit, and the differential numerator circuit is connected to the integral sampling sub-circuit. First, the differential molecule circuit performs a differential operation between the output result of the first current amplifier and the output result of the adder to obtain a differential current signal, and then the integral sampling sub-circuit integrates and samples the differential current signal to obtain a differential voltage signal.
在上述实施例的基础上，本发明实施例中的视锥视杆复用式仿生视觉传感器，所述电流模式有源像素传感器电路还包括：第二电流放大器；On the basis of the above-mentioned embodiments, in the embodiment of the present invention, the cone and rod multiplexing type bionic vision sensor, the current mode active pixel sensor circuit further includes: a second current amplifier;
所述第二电流放大器连接在所述感光器件与所述第一电流放大器之间。The second current amplifier is connected between the photosensitive device and the first current amplifier.
具体地，本发明实施例中，由于感光器件转换得到的电流信号较小，即使通过第一电流放大器放大或通过求和计算，其依然较小，对后续操作使用的器件精度要求较高。因此降低对后续操作使用的器件精度要求，在感光器件与第一电流放大器之间连接有第二电流放大器，对感光器件转换得到的电流信号进行初步放大。第二电流放大器可以是实际的器件，也可以是实现电流放大功能的功能模块，本发明实施例中对此不作具体限定。Specifically, in the embodiment of the present invention, since the current signal converted by the photosensitive device is small, even if it is amplified by the first current amplifier or calculated by the summation, it is still small, which requires high precision of the devices used in subsequent operations. Therefore, the accuracy requirements for the devices used in subsequent operations are reduced, and a second current amplifier is connected between the photosensitive device and the first current amplifier to initially amplify the current signal converted by the photosensitive device. The second current amplifier may be an actual device or a functional module that realizes the current amplification function, which is not specifically limited in the embodiment of the present invention.
在上述实施例的基础上，本发明实施例中的视锥视杆复用式仿生视觉传感器，所有所述目标电压信号和所有所述指定数字信号共同形成图像。On the basis of the above-mentioned embodiment, in the embodiment of the present invention, the cone and rod multiplexed bionic vision sensor, all the target voltage signals and all the designated digital signals jointly form an image.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features thereof are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

  1. 一种视锥视杆复用式仿生视觉传感器，其特征在于，包括：预设数量个电压模式有源像素传感器电路和所述预设数量个电流模式有源像素传感器电路；A frustum and rod multiplexing type bionic vision sensor, characterized by comprising: a preset number of voltage mode active pixel sensor circuits and the preset number of current mode active pixel sensor circuits;
    所述电压模式有源像素传感器电路和所述电流模式有源像素传感器电路共用一个感光器件，所述感光器件用于获取目标光信号，并将所述目标光信号转换为电流信号，所述电压模式有源像素传感器电路用于基于所述电流信号，输出表征所述目标光信号中的光强信息的目标电压信号；所述电流模式有源像素传感器电路用于基于所述电流信号，输出表征所述目标光信号中的光强梯度信息的指定数字信号。The voltage mode active pixel sensor circuit and the current mode active pixel sensor circuit share a photosensitive device, and the photosensitive device is used to obtain a target light signal and convert the target light signal into a current signal. The mode active pixel sensor circuit is used to output a target voltage signal representing the light intensity information in the target light signal based on the current signal; the current mode active pixel sensor circuit is used to output a characterization based on the current signal The designated digital signal of the light intensity gradient information in the target light signal.
  2. 根据权利要求1所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述感光器件包括光电二极管。The viewing cone and rod multiplexed bionic vision sensor according to claim 1, wherein the photosensitive device comprises a photodiode.
  3. 根据权利要求2所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述电压模式有源像素传感器电路还包括：电流积分器、快门以及模数转换器；The viewing cone and rod multiplexed bionic vision sensor according to claim 2, wherein the voltage mode active pixel sensor circuit further comprises: a current integrator, a shutter, and an analog-to-digital converter;
    所述电流积分器用于获取所述电压模式有源像素传感器电路中目标电容的电压模拟信号；The current integrator is used to obtain the voltage analog signal of the target capacitor in the voltage mode active pixel sensor circuit;
    所述快门用于控制所述电流积分器的积分时间；The shutter is used to control the integration time of the current integrator;
    所述模数转换器用于将所述目标电容的电压模拟信号转换为所述目标电压信号。The analog-to-digital converter is used to convert the voltage analog signal of the target capacitor into the target voltage signal.
  4. 根据权利要求3所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述目标电容具体为：设置在所述电压模式有源像素传感器电路内的独立电容或者所述电压模式有源像素传感器电路的寄生电容。The viewing cone and rod multiplexed bionic vision sensor according to claim 3, wherein the target capacitance is specifically: an independent capacitance set in the voltage mode active pixel sensor circuit or the voltage mode Parasitic capacitance of the source pixel sensor circuit.
  5. 根据权利要求1所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述电流模式有源像素传感器电路还包括：第一电流放大器、比较器、加法器和数模转换器；The viewing cone and rod multiplexed bionic vision sensor according to claim 1, wherein the current mode active pixel sensor circuit further comprises: a first current amplifier, a comparator, an adder and a digital-to-analog converter;
    所述感光器件与所述第一电流放大器相连，所述第一电流放大器与所述比较器的一个输入端相连；The photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to an input terminal of the comparator;
    所述感光器件周围的指定数量个其他感光器件均分别与所述加法器的输入端相连，所述加法器的输出端与所述比较器的另一个输入端相连；A specified number of other photosensitive devices around the photosensitive device are respectively connected to the input terminal of the adder, and the output terminal of the adder is connected to the other input terminal of the comparator;
    所述比较器的输出端与所述数模转换器相连，所述数模转换器将输入的指定数字信号转换为指定模拟信号，并将所述指定模拟信号输出至所述第一电流放大器或者所述加法器，直至所述比较器的输出端输出事件脉冲信号，所述电流模式有源像素传感器电路输出所述指定数字信号。The output terminal of the comparator is connected to the digital-to-analog converter, and the digital-to-analog converter converts the 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 terminal of the comparator outputs an event pulse signal, and the current mode active pixel sensor circuit outputs the specified digital signal.
  6. 根据权利要求1所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述电流模式有源像素传感器电路还包括：第一电流放大器、加法器、差分电路和电压比较器；The viewing cone and rod multiplexed bionic vision sensor according to claim 1, wherein the current mode active pixel sensor circuit further comprises: a first current amplifier, an adder, a differential circuit and a voltage comparator;
    所述感光器件与所述第一电流放大器相连，所述第一电流放大器与所述差分电路相连；The photosensitive device is connected to the first current amplifier, and the first current amplifier is connected to the differential circuit;
    所述感光器件周围的指定数量个其他感光器件均分别与所述加法器的输入端相连，所述加法器的输出端与所述差分电路相连，所述差分电路用于将所述第一电流放大器的输出结果以及所述加法器的输出结果进行差分运算，并得到差分电压信号；A specified number of other photosensitive devices around the photosensitive device are respectively connected to the input end of the adder, and the output end of the adder is connected to the differential circuit, and the differential circuit is used to transfer the first current The output result of the amplifier and the output result of the adder are subjected to a differential operation, and a differential voltage signal is obtained;
    所述差分电路与所述电压比较器相连，所述电压比较器用于根据所述差分电压信号，输出所述指定数字信号。The differential circuit is connected to the voltage comparator, and the voltage comparator is used to output the designated digital signal according to the differential voltage signal.
  7. 根据权利要求6所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述差分电路具体包括：差分子电路和积分采样子电路；The viewing cone and rod multiplexed bionic vision sensor according to claim 6, wherein the differential circuit specifically comprises: a differential numerator circuit and an integral sampling sub-circuit;
    所述第一电流放大器以及所述加法器的输出端分别与所述差分子电路相连，所述差分子电路用于将第一电流放大器的输出结果与所述加法器的输出结果进行差分运算，得到差分电流信号；所述差分子电路与所述积分采样子电路相连，所述积分采样子电路用于将所述差分电流信号进行积分采样，得到差分电压信号。The output ends of the first current amplifier and the adder are respectively connected to the differential numerator circuit, and the differential numerator circuit is used to perform a differential operation between the output result of the first current amplifier and the output result of the adder, Obtain a differential current signal; the differential numerator circuit is connected to the integral sampling sub-circuit, and the integral sampling sub-circuit is used to perform integral sampling on the differential current signal to obtain a differential voltage signal.
  8. 根据权利要求5所述的视锥视杆复用式仿生视觉传感器，其特征在于，所述电流模式有源像素传感器电路还包括：第二电流放大器；The viewing cone and rod multiplexed bionic vision sensor according to claim 5, wherein the current mode active pixel sensor circuit further comprises: a second current amplifier;
    所述第二电流放大器连接在所述感光器件与所述第一电流放大器之间。The second current amplifier is connected between the photosensitive device and the first current amplifier.
  9. 根据权利要求1-8中任一项所述的视锥视杆复用式仿生视觉传感器，其特征在于，所有所述目标电压信号和所有所述指定数字信号共同形成图像。The viewing cone and rod multiplexed bionic vision sensor according to any one of claims 1-8, wherein all the target voltage signals and all the designated digital signals jointly form an image.
  10. 根据权利要求1-8中任一项所述的视锥视杆复用式仿生视觉传感器，其特征在于，还包括：两个存储单元；The viewing cone and rod multiplexed bionic vision sensor according to any one of claims 1-8, further comprising: two storage units;
    所述两个存储单元分别用于存储所述目标电压信号以及所述指定数字信号。The two storage units are respectively used to store the target voltage signal and the designated digital signal.
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