WO2022222170A1 - 一种图像传感器及图像处理系统 - Google Patents
一种图像传感器及图像处理系统 Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/47—Image sensors with pixel address output; Event-driven image sensors; Selection of pixels to be read out based on image data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/709—Circuitry for control of the power supply
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
- H04N25/75—Circuitry for providing, modifying or processing image signals from the pixel array
Definitions
- the present invention relates to the technical field of image acquisition, in particular to an image sensor.
- dynamic vision image sensors Compared with traditional image sensors (such as active pixel sensors), dynamic vision image sensors (hereinafter referred to as dynamic vision sensors) have gradually attracted people's attention due to their unique advantages.
- the dynamic vision sensor can continuously respond to the change of light intensity in the field of view in real time without any exposure time, which makes it easier to detect high-speed motion object.
- the dynamic vision sensor only responds to and outputs the position information of the pixel unit corresponding to the area where the light intensity changes in the field of view, and automatically shields the useless background information, it also has the advantages of small output data and low occupied bandwidth.
- the above characteristics of the dynamic vision sensor enable the back-end image processing system to directly acquire and process useful dynamic information in the field of view, thus greatly reducing the requirements for its storage and computing power, and achieving better real-time performance.
- the pixel unit Since the pixel unit needs to continuously monitor the change of light intensity in the field of view, it needs to be in a working state all the time and consume power. When there is no dynamic information in the field of view, the pixel unit only consumes a certain static power consumption. When there is dynamic information in the field of view, in addition to the static power consumption of the pixel unit itself, dynamic power consumption is also consumed. This part of the dynamic power consumption not only includes the dynamic power consumption consumed by the peripheral control circuit of the pixel array to read and manage the pixel unit, It also includes the dynamic power consumption consumed by the dynamic vision sensor output interface when transmitting data.
- the dynamic vision sensor will still output some stray noise data, which includes not only the thermal noise interference of the dynamic vision sensor itself, but also the Some data generated erroneously due to slow changes in background light intensity or relative motion of the dynamic vision sensor to the background.
- the existing recognition method is based on the back-end algorithm, that is, the back-end algorithm analyzes the amount of data output by the dynamic vision sensor to control its working state.
- this method can control the static power consumption of the pixel cell array in the low power consumption mode, it cannot reduce the dynamic power consumption.
- the back-end processing system also needs to work continuously to judge and identify the low power consumption mode, which undoubtedly increases the power consumption of the entire image processing system. Therefore, reducing the overall power consumption of the system based on the back-end algorithm has certain limitations.
- the present invention provides an image sensor in an attempt to solve or at least alleviate at least one of the above problems.
- an image sensor comprising: a pixel acquisition circuit array composed of a plurality of pixel acquisition circuits, the pixel acquisition circuit is suitable for monitoring the light intensity change in the field of view, and when the light intensity change satisfies a certain
- the activity detection unit is coupled to the pixel acquisition circuit array through the global activity detection signal line, and is suitable for monitoring the current value on the global activity detection signal line, and when the current value is less than the activity threshold value,
- the low activity enable signal is set to be valid, and the current value is positively related to the number of pixel acquisition circuits in the triggered state in the pixel acquisition circuit array;
- the pixel acquisition circuit array is coupled to the readout unit, and the other end is coupled to the activity detection unit, which is suitable for setting the global low power consumption enable signal to be valid when the low activity enable signal is valid; the readout unit, respectively It is coupled to the pixel acquisition circuit array and the low power consumption control unit, and is adapted to be reset when the global low power consumption enable signal is valid.
- the image sensor according to the present invention further includes a global control unit, which is coupled to the pixel acquisition circuit array via a global reset signal line, and is adapted to reset the pixel acquisition circuit array when the image sensor is powered on, and to reset the pixel acquisition circuit array when the image sensor is powered on.
- a global control unit which is coupled to the pixel acquisition circuit array via a global reset signal line, and is adapted to reset the pixel acquisition circuit array when the image sensor is powered on, and to reset the pixel acquisition circuit array when the image sensor is powered on.
- the reset is released, so that the pixel acquisition circuit array starts to work.
- the pixel acquisition circuit includes: a photoelectric detection module, adapted to monitor the light signal irradiated thereon in real time, and output a corresponding electrical signal; a trigger generation module, adapted to detect the electrical signal in real time When a threshold condition is met, a trigger signal is generated; a latch is adapted to be set when a trigger signal is received; a logic module includes a handshake protocol control logic and a self-timed reset logic, wherein the self-timed reset logic is collected at the pixel
- the circuit is activated when the circuit enters the self-timed working mode; the latch is also suitable for being reset after the pixel acquisition circuit maintains the triggered state for a period of time in the self-timed working mode.
- the trigger generation module includes: a filter amplifier, adapted to filter and/or amplify the electrical signal to generate a processed electrical signal; a threshold comparison sub-module, adapted to A trigger signal is generated when the electrical signal of the tk meets the threshold condition, and the threshold comparison sub-module includes a first comparator, a second comparator and an OR gate.
- the global activity detection signal line is arranged as the power line or the ground line of the OR gate, the power line or the ground line of the latch, to monitor the dynamic current thereon.
- the pixel acquisition circuit further includes: a gating current source, including a current source and a switch controlled by an output signal of the latch, and when the latch is set, The switch in the gated current source is turned on, and the current of the current source flows through the global activity detection signal line; when the latch is reset, the switch in the gated current source is turned off, and the current of the current source does not flow through the global activity. Degree detection signal line.
- the self-timed reset logic includes: a second inverter, one end of which is connected to the output end of the latch, and the other end of which is connected to the gate of the third transistor; a capacitor, wherein the source of the third transistor and the lower plate of the first capacitor are both grounded, and the drain of the third transistor and the upper plate of the first capacitor are both connected to the third current source; the third current source, whose The other end is connected to the power supply; the third inverter and the fourth inverter are connected in sequence, wherein the other end of the third inverter is connected to the upper plate of the first capacitor, and the other end of the fourth inverter outputs a self-timed output Reset output signal.
- the gated current source includes: a first current source, one end of which is connected to the drain of the first transistor, and the other end is connected to a power supply; the gate of the first transistor is connected to the lock The output terminal of the register, and its source is connected to the global activity detection signal line.
- the gated current source includes: a first inverter, one end of which is connected to the output end of the latch, and the other end is connected to the gate of the second transistor; the second transistor, whose The source is connected to the global activity detection signal line; the second current source, one end of which is connected to the drain of the second transistor, and the other end is grounded.
- the activity detection unit includes: a current adapter, one end of which is connected to the global activity detection signal line, and the other end of which is connected to the current mode comparator, and is adapted to convert the global activity
- the detection signal line is clamped at a fixed level, and the current signal on the global activity detection signal line is copied and output to the current mode comparator; the positive input terminal of the current mode comparator is connected to the activity threshold signal, and its negative input terminal
- the connection of the current signal is adapted to make the low activity enable signal valid when the current signal is less than the activity threshold signal.
- the activity detection unit includes: a current adapter, one end of which is connected to the global activity detection signal line, and the other end of which is connected to a current mode analog-to-digital converter, adapted to connect the global activity detection signal line.
- the activity detection signal line is clamped at a fixed level, and the current signal on the global activity detection signal line is copied and output to the current-mode analog-to-digital converter; the current-mode analog-to-digital converter is adapted to convert the current signal into digital Signal; a digital comparator, whose positive input terminal is connected to the activity threshold signal, and its negative input terminal is connected to a digital signal, suitable for setting the low activity enable signal to be valid when the digital signal is less than the activity threshold signal.
- the activity detection unit includes: a current adapter, one end of which is connected to the global activity detection signal line, and the other end of which is connected to a current-to-voltage converter, adapted to convert the global activity
- the detection signal line is clamped at a fixed level, and the current signal on the global activity detection signal line is copied and output to the current-to-voltage converter;
- the current-to-voltage converter is adapted to convert the current signal into a voltage signal;
- a voltage mode comparator whose positive input terminal is connected to the activity threshold signal, and its negative input terminal is connected to a voltage signal, suitable for setting the low activity enable signal to be valid when the voltage signal is less than the activity threshold signal.
- the activity detection unit includes: a current adapter, one end of which is connected to the global activity detection signal line, and the other end of which is connected to a current-to-voltage converter, adapted to convert the global activity
- the detection signal line is clamped at a fixed level, and the current signal on the global activity detection signal line is copied and output to the current-to-voltage converter;
- the current-to-voltage converter is adapted to convert the current signal into a voltage signal; voltage mode analog-to-digital
- the converter is suitable for converting the voltage signal into a digital signal;
- the digital comparator whose positive input terminal is connected to the activity threshold signal, and whose negative input terminal is connected to the digital signal, is suitable for converting the low activity value when the digital signal is smaller than the activity threshold value signal.
- the degree enable signal is asserted.
- the activity detection unit is further adapted to disable the output low activity enable signal when the current value is not less than the activity threshold;
- the low power consumption control unit is further adapted to When the low-activity enable signal is invalid, the global low-power enable signal is invalid;
- the pixel acquisition circuit array is also suitable for exiting the self-timed working mode when the global low-power enable signal is invalid;
- the readout unit It is also suitable for releasing the reset state when the global low power consumption enable signal is invalid, so as to respond to the pixel acquisition circuit in the triggered state, and output the event data of the triggered pixel acquisition circuit.
- an image processing system comprising: an image sensor as described above; a computing device coupled to the image sensor and adapted to process event data from the image sensor.
- an activity detection unit is added, which is coupled to the pixel acquisition circuit array through a global activity detection signal line.
- the activity detection unit can determine the amount of dynamic information in the field of view by measuring the magnitude of the current value on the global activity detection signal line, that is, the activity information of the field of view.
- the low-power control unit makes the image sensor enter a low-power mode, and the image sensor monitors the dynamic information in the field of view with very low power consumption. Monitoring does not depend on the readout of event data by the readout unit and the operation of the back-end algorithm, so as to achieve the purpose of reducing image power consumption.
- FIG. 1 shows a schematic diagram of an image processing system 100 according to some embodiments of the present invention
- FIG. 2 shows a schematic diagram of an image sensor 200 according to some embodiments of the present invention
- FIG. 3A to 3D illustrate an example of the workflow of the image sensor 200 according to one embodiment of the present invention
- FIG. 3E illustrates the current value on the global activity detection signal line and the specific state of the low activity enable signal. ;
- FIG. 4A and 4B respectively show schematic diagrams of a pixel acquisition circuit 400 according to an embodiment of the present invention
- 5A and 5B respectively show schematic diagrams of a gated current source 450 according to an embodiment of the present invention.
- FIG. 6 shows a schematic diagram of the self-timed reset logic in the pixel acquisition circuit 400 according to an embodiment of the present invention
- FIG. 7A to 7D respectively show schematic diagrams of the activity detection unit 220 according to some embodiments of the present invention.
- FIG. 1 shows a schematic diagram of an image processing system 100 according to some embodiments of the present invention.
- the image processing system 100 includes an image sensor 200 and a computing device 120 coupled to each other.
- the image sensor 200 can detect the discontinuity of motion in the spatiotemporal domain.
- Computing device 120 may be implemented, for example, as an image processing device.
- the image sensor 200 has a pixel unit array composed of a plurality of pixel units, wherein each pixel unit is only triggered when it senses a change in light intensity (ie, there is a motion change in the field of view), responds to and records the light intensity In the rapidly changing area, the light intensity change information (eg, the time stamp of the light intensity change and the light intensity threshold) and the coordinate position of the triggered pixel unit are generated as the event data of the trigger event.
- Image sensor 200 communicates event data to computing device 120 .
- the computing device 120 processes the event data to facilitate further calculations and applications.
- Computing device 120 may be implemented as a server or server cluster, and may also be implemented as a personal computer including a desktop computer and a notebook computer configuration.
- computing device 200 may also be implemented as part of a small-sized portable (or mobile) electronic device, or even as a micro-computing module. The embodiments of the present invention do not specifically limit this.
- the working modes of the image processing system 100 include a low power consumption mode and a normal working mode.
- the image sensor 200 no longer outputs event data to the external computing device 120, but only monitors the dynamic information in the field of view with very low power consumption. This monitoring does not depend on the output of event data and subsequent monitoring. operation of the end algorithm.
- Computing device 120 may be in a complete sleep state since it does not need to receive and process any event data.
- the image sensor 200 monitors this change and enters a normal working mode when a certain condition is reached. At this time, the image sensor 200 outputs the event data of the triggered pixel unit to the computing device 120 . In the normal working mode, the working principle and working process of the image sensor 200 are no different from those of a general dynamic vision sensor, which will not be repeated here.
- the image processing system 100 mainly relies on the front-end image sensor 200 to identify the situation with less dynamic information in the field of view, and use this to activate a low-power mode to reduce The overall power consumption of the system.
- the image sensor 200 monitors the dynamic information in the field of view by itself with very low power consumption. This monitoring does not depend on the output of event data and the operation of the back-end computing device 120, so the data can be turned off.
- the readout circuit and computing device 120 further reduce the power consumption of the system 100 .
- FIG. 2 shows a schematic diagram of an image sensor 200 according to some embodiments of the present invention.
- the image sensor 200 at least includes: a pixel acquisition circuit array 210 , an activity detection unit 220 , a low power consumption control unit 230 , a readout unit 240 and a global control unit 250 .
- the pixel acquisition circuit array 210 is composed of a plurality of pixel acquisition circuits 400 (or pixel units) evenly distributed in the row and column direction (as shown in FIG. 2, a 3 ⁇ 3 size
- the pixel acquisition circuit array is not limited to this).
- the pixel acquisition circuit array 210 is respectively coupled to the activity detection unit 220 , the low power consumption control unit 230 , the readout unit 240 and the global control unit 250 .
- the pixel acquisition circuit array 210 is coupled to the activity detection unit 220 via a global activity detection signal line, and is coupled to the global control unit 250 via a global reset signal line;
- the acquisition circuit array 210 and the readout unit 240 are respectively coupled to the low power consumption control unit 230 via a global low power consumption enable signal line; and, the pixel acquisition circuit array 210 is also via a row request line, a row selection line, and a column request line and column select lines are coupled to the readout unit 240 .
- the pixel acquisition circuit monitors the light intensity change in the field of view in real time, and enters a trigger state when the light intensity change meets a certain condition.
- the global control unit 250 is responsible for resetting the entire pixel acquisition circuit array 210 when the image sensor 200 is powered on, to ensure that each pixel acquisition circuit has a stable initial state; and, when the pixel acquisition circuit array 210 maintains a stable initial state, release the reset , so that the pixel acquisition circuit array 210 starts to work.
- the readout unit 240 includes a row selection subunit 242 , a column selection subunit 244 and a readout control subunit 246 .
- the row selection subunit 242 manages the pixel acquisition circuit array 210 in the row direction
- the column selection subunit 244 manages the pixel acquisition circuit array 210 in the column direction
- the readout control subunit 246 coordinates the row selection subunit 242 and the column selection subunit 244, to complete operations such as line breaks.
- the row selection sub-unit 242 and the column selection sub-unit 244 may be a random scanning decider, or a sequential scanning selection scanning circuit, which will not be repeated here.
- the image sensor 200 adds an activity detection unit 220 and a low power consumption control unit 230 .
- the activity detection unit 220 monitors the current value on the global activity detection signal line.
- the magnitude of the total current value flowing through the global activity detection signal line is proportional to the number of pixel units in the triggered state in the pixel acquisition circuit array 210 , that is, the more the number of triggered pixel units is. , the larger the current value on the global activity detection signal line, the smaller the current value.
- the activity detection unit 220 sets the low activity enable signal to be valid, indicating that no valid motion occurs in the field of view at this time.
- the low power consumption control unit 150 receives the low activity enable signal output by the activity detection unit 140, and when the low activity enable signal is valid, sets the global low power consumption enable signal to be valid, and outputs it to the pixel acquisition circuit Array 210 and readout unit 240, and the entire image sensor 200 enters a low power consumption mode at this time.
- the pixel acquisition circuit In the low power consumption mode, the pixel acquisition circuit enters the self-timed working mode, and its internal self-timed reset logic is activated. At the same time, the pixel acquisition circuit can still detect the change of light intensity in the external field of view and enter the trigger state. After it enters the trigger state, the pixel acquisition circuit will remain in the trigger state for a period of time, and then cancel the trigger state by itself, and start to detect the external light again. strong change.
- the analog module inside the pixel acquisition circuit in the self-timed working mode, also works in a low bias current state, so as to reduce the static power consumption of the pixel acquisition circuit array 210 .
- the readout unit 240 is reset when the global low power enable signal is active.
- the row selection subunit 242, the column selection subunit 244, and the readout control subunit 246 are no longer active.
- the readout unit 240 does not consume any dynamic power consumption, and the back-end computing device 120 can also enter a sleep state, thereby greatly reducing the power consumption of the image sensor 200 and the image processing system 100 .
- the activity detection unit 220 also monitors the magnitude of the current value flowing through the global activity detection signal line in real time. When there is effective motion in the field of view, the number of triggered pixel units gradually increases, and the total current flowing through the global activity detection signal line increases. When the current value is not less than the activity threshold, the activity detection unit 220 will be low.
- the low power consumption control unit 230 also deactivates the low power consumption enable signal, and the system exits the low power consumption mode and enters the normal working mode. At this time, the pixel acquisition circuit also exits the self-timed operation mode, and the readout unit 240 is also released from the reset state.
- the readout unit 240 manages the pixel acquisition circuit array 210, which outputs event data for the triggered pixel acquisition circuits.
- the working principle and working process of the image sensor 200 provided by the present invention are no different from those of a general dynamic vision sensor, which will not be repeated here.
- FIGS. 3A to 3D illustrate the work flow of the image sensor 200 according to an embodiment of the present invention through an example.
- FIG. 3E shows the current value on the global activity detection signal line and the specific state of the low activity enable signal in this example. It should be noted that the description of the signal values of the current signal and the low activity enable signal in FIG. 3E is only an example to facilitate the description of the changing states of these two signals in the whole process, and does not limit the magnitude of their signal values.
- the hand swipes across the field of view area of the image sensor from left to right.
- the hand is located outside the field of view.
- the total current on the global activity detection signal line is also very small, which is less than the activity threshold (such as 3E), the low activity enable signal is valid, the image sensor 200 operates in a low power consumption mode and has no event data output, and the image sensor 200 monitors the dynamic information in the field of view by itself with very low power consumption .
- the hand starts to move to the field of view area of the image sensor 200 .
- the number of pixel acquisition circuits that are triggered gradually increases, and the current value flowing through the global activity detection signal line also gradually increases.
- the activity detection unit 220 disables the low activity enable signal
- the low power control unit 230 also disables the low power enable signal.
- the image sensor 200 exits the low power consumption mode and enters the normal working mode. In the normal operating mode, hand motion is detected and corresponding event data is output to the external computing device 120 .
- the moving hand is always located in the field of view of the image sensor. Therefore, the current value on the global activity detection signal line is always higher than the activity threshold.
- the image sensor 200 is always in the normal working mode. Always be checked out and output the corresponding event data.
- FIGS. 4A and 4B respectively show schematic diagrams of a pixel acquisition circuit 400 according to an embodiment of the present invention.
- the pixel acquisition circuit 400 includes: a photodetection module 410 , a trigger generation module 420 , a latch 430 and a logic module 440 .
- the trigger generation module 420 further includes: a filter amplifier 422 and a threshold comparison sub-module 424 .
- Logic module 440 includes handshake protocol control logic and self-timed reset logic.
- the latch 430 is coupled with the global control unit 250 through a global reset signal line;
- the logic module 440 is coupled with the readout unit 240 through a row request line, a row select line, a column request line and a column select line;
- the filter amplifier 422, the threshold comparison sub-module 424, the latch 430 and the logic module 440 are respectively coupled to the low-power control unit 230 through the global low-power enable signal line, and the threshold comparison sub-module 424 and the latch 430 are respectively It is coupled to the activity detection unit 220 through the global activity detection signal line.
- the photoelectric detection module 410 monitors the light signal irradiated thereon in real time, and outputs a corresponding electrical signal.
- the trigger generation module 420 generates a trigger signal when the electrical signal satisfies the threshold condition. More specifically, the filter amplifier 422 first filters and/or amplifies the electrical signal output by the photodetection module 410 to generate a processed electrical signal; the threshold comparison sub-module 424 then determines whether the processed electrical signal satisfies the threshold condition. , and when the processed electrical signal satisfies the threshold condition, a trigger signal is generated.
- the filter amplifier 422 is a high-pass filter amplifier
- the threshold comparison sub-module 424 includes a first comparator (VC1), a second comparator (VC2) and an OR gate.
- the latch 430 is coupled to the threshold comparison sub-module 424 and is set when a trigger signal is received (ie, the processed electrical signal satisfies the threshold condition).
- the logic module 440 is coupled to the latch 430 and includes the working logic of the pixel acquisition circuit 400 .
- the handshake protocol control logic is responsible for the communication between the pixel acquisition circuit 400 and the peripheral circuits.
- the self-timed reset logic is activated when the pixel capture circuit 400 enters the self-timed working mode (ie, when the image sensor 200 enters the low power consumption mode) and the pixel capture circuit 400 is triggered. At this time, the pixel acquisition circuit 400 will automatically maintain the trigger state for a period of time (the so-called "self-timing"), after which the latch 430 is reset, so that the pixel acquisition circuit 400 automatically releases the trigger state, and re-checks and monitors the external light intensity Variety.
- the global activity detection signal lines are arranged as the power line or ground line of the OR gate of the threshold comparison sub-module 424, and the power line or ground line of the latch 430 to monitor the dynamic current on these two modules, such that , the activity information of the field of view can be determined by detecting the magnitude of the current flowing through the global activity detection signal line.
- the difference of the pixel acquisition circuit 400 of this embodiment is mainly in the following two points: firstly, a self-timed reset logic is added to the logic module; secondly, the global activity detection signal is added.
- the lines are introduced into OR gates in threshold comparison sub-module 424 and into latches 430 .
- the output of the first comparator VC1 or the second comparator VC2 goes high, the output of the OR gate also goes high and the latch is set.
- the pixel acquisition circuit 400 also includes a selection
- the current source 450 is turned on.
- the gate current source 450 is coupled to the latch 430 , the logic module 440 and the filter amplifier 422 respectively.
- the global activity detection signal line is connected to the gate current source 450, and the connection manner of other signal lines is the same as that of FIG. 4A.
- gated current source 450 includes a current source and a switch controlled by the output signal of latch 430 .
- the latch 430 is set, the switch in the gated current source 450 is turned on, and the current of the current source flows through the global activity detection signal line;
- the latch 430 is reset, the switch in the gated current source 450 is turned off, and the current of the current source does not flow through the global activity detection signal line.
- the magnitude of the total current value on the global activity detection signal line can also represent the activity information of the field of view.
- 5A and 5B respectively illustrate schematic diagrams of a gated current source 450 according to one embodiment of the present invention.
- the gated current source 450 includes a first current source I1 and a first transistor M1.
- the gate of M1 is connected to the output of the latch 430, and the source of M1 is connected to the global activity detection signal line, where the global activity detection signal line should be maintained at a low level to ensure that the latch 430 outputs M1 can be turned on when it is high.
- the latch 430 When the pixel acquisition circuit 400 is triggered, the latch 430 is set, its output becomes a high level, the first transistor M1 is turned on, and the current of the first current source I1 flows into the global activity detection signal line; when the pixel When the acquisition circuit 400 is not triggered, the latch 430 remains reset, its output is low, the first transistor M1 is turned off, and the current of the first current source I1 does not flow through the global activity detection signal line.
- the gated current source 450 includes a second current source I2, a second transistor M2 and a first inverter.
- M2 is a P-type transistor
- one end of the first inverter is connected to the output end of the latch 430, and the other end is connected to the gate of the second transistor M2, that is, the output of the latch 430 is connected by the first inverter
- the phase converter is connected to the gate of the second transistor M2, and the source of M2 is connected to the global activity detection signal line.
- One end of the second current source I2 is connected to the drain of M2, and the other end is grounded.
- the global activity detection signal line should be maintained at a high level to ensure that M2 can be turned on when the output of the latch 430 is at a high level.
- the latch 430 is set, its output becomes a high level, the second transistor M2 is turned on, and the current of the second current source I2 flows out from the global activity detection signal line;
- the latch 430 remains reset, its output is low, the second transistor M2 is turned off, and the current of the second current source I2 does not flow through the global activity detection signal line.
- FIG. 6 shows a schematic diagram of the self-timed reset logic in the pixel acquisition circuit 400 according to one embodiment of the present invention.
- the self-timed reset logic includes: a third transistor M3, a third current source I3, a first capacitor C1, and three inverters (a second inverter, a third inverter and a fourth inverter device).
- One end of the second inverter is connected to the output end of the latch 430, and the other end is connected to the gate of the third transistor; the source of the third transistor and the lower plate of the first capacitor are both grounded, and the drain of the third transistor
- the pole and the upper plate of the first capacitor are both connected to the third current source; the other end of the third current source is connected to the power supply; the third inverter and the fourth inverter are connected in sequence, wherein the other end of the third inverter One end is connected to the upper plate of the first capacitor, and the other end of the fourth inverter outputs a self-timed reset output signal.
- the latch 430 is reset.
- the output of the latch 430 is low, the gate of the third transistor M3 is high, M3 is turned on, the upper plate of C1 is pulled to low, and the self-timed reset output is invalid.
- the output of the latch 430 is high, the gate of M3 becomes low, M3 is turned off, the third current source I3 starts to charge the first capacitor C1, and the upper plate of C1
- the self-timed reset signal output by the self-timed reset logic is valid, and it resets the latch.
- the length of the timing time of the self-timed reset logic is determined by the third current source I3. The smaller I3 is, the slower the charging of the first capacitor C1 is, and the longer the timing time is.
- the pixel acquisition circuit 400 has two working modes: a self-timed working mode and a normal working mode, which are controlled by the global low power consumption enable signal output from the low power consumption control unit 230 .
- the global low power consumption enable signal is valid, the image sensor 200 enters the low power consumption mode, and the pixel acquisition circuit 400 enters the self-timed mode.
- the analog circuit part of the pixel acquisition circuit 400 enters the low bias current mode to reduce the static power consumption of the pixel unit.
- This part of the circuit mainly refers to the filter amplifier 422 and the first comparator VC1 in the threshold comparison sub-module 424 and the second comparator VC2.
- the global low power enable signal line is also coupled to the logic module 440 .
- the handshake protocol control logic is turned off and the self-timed reset logic is turned on.
- the self-timed reset logic is activated, which provides a self-timed reset output signal to latch 430 after the timer expires to deassert latch 430.
- the self-timed reset logic replaces the handshake protocol control logic to complete the reset function of the latch 430, so that the pixel acquisition circuit 400 can work completely autonomously without relying on the peripheral readout unit 240 (at low power consumption).
- the readout unit 240 is reset to reduce the dynamic power consumption of the system).
- the image sensor 200 enters the normal operation mode, and the pixel acquisition circuit 400 also enters the normal operation mode.
- the analog circuit part of the pixel acquisition circuit 400 enters the normal bias current mode, so as to improve the response speed of the pixel acquisition circuit to changes in the external light intensity; on the other hand, the handshake protocol control logic is turned on, and the self-timed reset logic is turned off , the peripheral readout unit 240 manages the array of pixel acquisition circuits, which processes and reads out event data of the pixel acquisition circuits in the triggered state to the computing device 120 .
- the working principle of the pixel acquisition circuit and the image sensor given here is no different from that of the general dynamic vision sensor, so it will not be repeated here.
- the activity detection unit 220 monitors the magnitude of the current value on the global activity detection signal line in real time, and when the current value is lower than the activity threshold, sets the low activity enable signal to be valid.
- the activity detection unit 220 is composed of a current switch and a current mode comparator.
- One end of the current adapter is connected to the global activity detection signal line, and the other end is connected to the current mode comparator.
- the current adapter clamps the global activity detection signal line to a fixed level, and at the same time, connects the global activity detection signal line
- the current signal on is replicated for use by the current mode comparator.
- the positive input terminal of the current mode comparator is connected to the activity threshold signal, and the negative input terminal is connected to the current signal output by the current adapter, which completes the comparison of these two signals in the current domain, and when the current signal is less than the activity threshold signal, the Assert the low activity enable signal.
- the activity detection unit 220 is composed of a current adapter, a current mode analog-to-digital converter (current mode ADC), and a digital comparator.
- One end of the current adapter is connected to the global activity detection signal line, and the other end is connected to the current mode analog-to-digital converter.
- the current signal output by the current adapter is converted into a digital signal through a current mode ADC.
- the positive input terminal of the digital comparator is connected to the activity threshold signal (wherein, the activity threshold signal is a digital signal), and the negative input terminal is connected to the digital signal output by the current mode ADC.
- a digital comparator completes the comparison of these two signals in the digital domain and asserts the low activity enable signal when the current signal is less than the activity threshold signal.
- the activity detection unit 220 is composed of a current converter, a current-voltage converter, and a voltage mode comparator.
- One end of the current converter is connected to the global activity detection signal line, and the other end is connected to the current-voltage converter.
- the current signal output by the current converter is converted into a voltage signal through a current-voltage converter.
- the positive input terminal of the voltage mode comparator is connected to the activity threshold signal, and the negative input terminal is connected to the voltage signal. The comparison of these two signals is done in the voltage domain by a voltage mode comparator, and the low activity enable signal is asserted when the voltage signal is less than the activity threshold signal.
- the activity detection unit 220 is composed of a current adapter, a current-to-voltage converter, a voltage-mode analog-to-digital converter (voltage-mode ADC), and a digital comparator.
- One end of the current converter is connected to the global activity detection signal line, and the other end is connected to the current-voltage converter.
- the current signal output by the current adapter is first converted into a voltage signal by a current-to-voltage converter, and then converted into a digital signal after being quantized by a voltage mode ADC.
- the positive input terminal of the digital comparator is connected to the activity threshold signal, and the negative input terminal is connected to the digital signal.
- a digital comparator completes the comparison of the two signals in the digital domain and asserts the low activity enable signal when the digital signal is less than the activity threshold signal.
- the image sensor according to the present invention does not depend on the back-end algorithm, can independently identify the situation with less dynamic information in the field of view, and reduces the overall power consumption of itself and the entire image processing system. Specifically, first, a global activity detection signal line is added to the pixel acquisition circuit array, and the current value flowing through the global activity detection signal line is different before and after the pixel acquisition circuit is triggered. Secondly, outside the pixel acquisition circuit array, the current value on the global activity detection signal line is measured by the activity detection unit, and the amount of dynamic information in the field of view is determined according to the current value, that is, the activity information of the field of view .
- the low-power control unit makes the image sensor enter a low-power mode, and the image sensor monitors the dynamic information in the field of view with very low power consumption. Monitoring does not depend on the output of event data and the operation of back-end algorithms, so the readout unit can be turned off to reduce power consumption. At the same time, in the low power consumption mode, the back-end computing device does not need to receive event data, so the computing device can also be turned off to further reduce the power consumption of the image processing system.
- modules or units or components of the apparatus in the examples disclosed herein may be arranged in the apparatus as described in this embodiment, or alternatively may be positioned differently from the apparatus in this example in one or more devices.
- the modules in the preceding examples may be combined into one module or further divided into sub-modules.
- modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment.
- the modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined.
- Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
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Abstract
Description
Claims (15)
- 一种图像传感器,包括:由多个像素采集电路组成的像素采集电路阵列,所述像素采集电路适于监测视场中的光强变化,并在光强变化满足一定条件时进入触发状态;活跃度检测单元,经全局活跃度检测信号线与所述像素采集电路阵列耦接,适于监测所述全局活跃度检测信号线上的电流值,并在所述电流值小于活跃度阈值时,将低活跃度使能信号置为有效,其中,所述电流值与所述像素采集电路阵列中处于触发状态的像素采集电路的数目正相关;低功耗控制单元,其一端经全局低功耗使能信号线与所述像素采集电路阵列和读出单元耦接,另一端与所述活跃度检测单元耦接,适于在所述低活跃度使能信号有效时,将全局低功耗使能信号置为有效;读出单元,分别与所述像素采集电路阵列和低功耗控制单元耦接,适于在所述全局低功耗使能信号有效时被复位。
- 如权利要求1所述的图像传感器,还包括:全局控制单元,经全局复位信号线与所述像素采集电路阵列耦接,适于在所述图像传感器上电时,复位所述像素采集电路阵列,以及,在像素采集电路阵列保持稳定的初始状态时,解除复位,使得所述像素采集电路阵列开始工作。
- 如权利要求1或2所述的图像传感器,其中,所述像素采集电路包括:光电探测模块,适于实时监测照射在其上的光信号,并输出相应的电信号;触发生成模块,适于在所述电信号满足阈值条件时,生成触发信号;锁存器,适于在接收到所述触发信号时被置位;逻辑模块,包括握手协议控制逻辑和自定时复位逻辑,其中,所述自定时复位逻辑在所述像素采集电路进入自定时工作模式时被激活;所述锁存器还适于在自定时工作模式下,在所述像素采集电路保持触发状态一段时间后被复位。
- 如权利要求3所述的图像传感器,在所述像素采集电路中,所述触发生成模块包括:滤波放大器,适于对所述电信号进行滤波和/或放大,生成处理后的电信号;阈值比较子模块,适于在所述处理后的电信号满足阈值条件时,生成触发信号,所述阈值比较子模块包括第一比较器、第二比较器和或门。
- 如权利要求4所述的图像传感器,其中,所述全局活跃度检测信号线为所述或门的电源线或地线、所述锁存器的电源线或地线,以监测其上的动态电流。
- 如权利要求4所述的图像传感器,其中,所述像素采集电路还包括:选通电流源,包括电流源和由所述锁存器的输出信号来控制的开关,以及在所述锁存器被置位时,所述选通电流源中的开关导通,所述电流源的电流流过所述全局活跃度检测信号线;在所述锁存器被复位时,所述选通电流源中的开关关断,所述电流源的电流不流过所述全局活跃度检测信号线。
- 如权利要求3所述的图像传感器,在所述像素采集电路中,所述自定时复位逻辑包括:第二反相器,其一端连接所述锁存器的输出端,另一端连接第三晶体管的栅极;第三晶体管和第一电容,其中,所述第三晶体管的源极与所述第一电容的下极板均接地,所述第三晶体管的漏极与所述第一电容的上极板均连接到第三电流源;第三电流源,其另一端接电源;依次连接的第三反相器和第四反相器,其中,第三反相器的另一端连接所述第一电容的上极板,第四反相器的另一端输出自定时复位输出信号。
- 如权利要求6所述的图像传感器,在所述像素采集电路中,所述选通电流源,包括:第一电流源,其一端与第一晶体管的漏极连接,另一端连接到电源;第一晶体管,其栅极连接所述锁存器的输出端,其源极连接所述全局活跃度检测信号线。
- 如权利要求6所述的图像传感器,在所述像素采集电路中,所述选通电流源包括:第一反相器,其一端连接所述锁存器的输出端,另一端连接第二晶体管的栅极;第二晶体管,其源极连接至所述全局活跃度检测信号线;第二电流源,其一端与所述第二晶体管的漏极连接,另一端接地。
- 如权利要求1所述的图像传感器,其中,所述活跃度检测单元包括:电流转接器,其一端连接所述全局活跃度检测信号线,其另一端连接至电流模式比较器,适于将全局活跃度检测信号线钳位于一固定电平,以及,复制所述全局活跃度检测信号线上的电流信号并输出至所述电流模式比较器;电流模式比较器,其正输入端连接活跃度阈值信号,其负输入端连接所述电流信号,适于在所述电流信号小于活跃度阈值信号时,将低活跃度使能信号置为有效。
- 如权利要求1所述的图像传感器,其中,所述活跃度检测单元包括:电流转接器,其一端连接所述全局活跃度检测信号线,其另一端连接至电流模式模数转换器,适于将全局活跃度检测信号线钳位于一固定电平,以及,复制所述全局活跃度检测信号线上的电流信号并输出至所述电流模式模数转换器;电流模式模数转换器,适于将所述电流信号转换为数字信号;数字比较器,其正输入端连接活跃度阈值信号,其负输入端连接所述数字信号,适于在所述数字信号小于活跃度阈值信号时,将低活跃度使能信号置为有效。
- 如权利要求1所述的图像传感器,其中,所述活跃度检测单元包括:电流转接器,其一端连接所述全局活跃度检测信号线,其另一端连接至电流电压转换器,适于将全局活跃度检测信号线钳位于一固定电平,以及,复制所述全局活跃度检测信号线上的电流信号并输出至所述电流电压转换器;电流电压转换器,适于将所述电流信号转换为电压信号;电压模式比较器,其正输入端连接活跃度阈值信号,其负输入端连接所述电压信号,适于在所述电压信号小于活跃度阈值信号时,将低活跃度使能信号置为有效。
- 如权利要求1所述的图像传感器,其中,所述活跃度检测单元包括:电流转接器,其一端连接所述全局活跃度检测信号线,其另一端连接至电流电压转换器,适于将全局活跃度检测信号线钳位于一固定电平,以及,复制所述全局活跃度检测信号线上的电流信号并输出至所述电流电压转换器;电流电压转换器,适于将所述电流信号转换为电压信号;电压模式模数转换器,适于将所述电压信号转换为数字信号;数字比较器,其正输入端连接活跃度阈值信号,其负输入端连接所述数字信号,适于在所述数字信号小于活跃度阈值信号时,将低活跃度使能信号置为有效。
- 如权利要求1-13中任一项所述的图像传感器,其中,所述活跃度检测单元还适于在所述电流值不小于活跃度阈值时,将输出的低活跃度使能信号置为无效;所述低功耗控制单元还适于在所述低活跃度使能信号无效时,将所述全局低功耗使能信号置为无效;所述像素采集电路阵列还适于在所述全局低功耗使能信号无效时,退出自定时工作模式;所述读出单元还适于在所述全局低功耗使能信号无效时,解除复位状态,以响应处于触发状态的像素采集电路,并输出被触发像素采集电路的事件数据。
- 一种图像处理系统,包括:如权利要求1-14中任一项所述的图像传感器;与所述图像传感器耦接的计算设备,适于对来自所述图像传感器的事件数据进行处理。
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