WO2022199413A1 - Réseau de détection de pixels et capteur visuel - Google Patents

Réseau de détection de pixels et capteur visuel Download PDF

Info

Publication number
WO2022199413A1
WO2022199413A1 PCT/CN2022/080681 CN2022080681W WO2022199413A1 WO 2022199413 A1 WO2022199413 A1 WO 2022199413A1 CN 2022080681 W CN2022080681 W CN 2022080681W WO 2022199413 A1 WO2022199413 A1 WO 2022199413A1
Authority
WO
WIPO (PCT)
Prior art keywords
pixel
pixel sensing
sensing unit
sub
units
Prior art date
Application number
PCT/CN2022/080681
Other languages
English (en)
Chinese (zh)
Inventor
何伟
杨哲宇
祝夭龙
Original Assignee
北京灵汐科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110310312.2A external-priority patent/CN113037980A/zh
Priority claimed from CN202110310300.XA external-priority patent/CN113038046B/zh
Application filed by 北京灵汐科技有限公司 filed Critical 北京灵汐科技有限公司
Publication of WO2022199413A1 publication Critical patent/WO2022199413A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/11—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • 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

Definitions

  • the present disclosure relates to the technical field of image sensing, and in particular, to a pixel sensing array and a vision sensor.
  • Vision sensor refers to an instrument that uses optical components and imaging devices to obtain image information of the external environment. Vision sensors in related technologies can only obtain one type of image information.
  • vision sensors include Active Pixel Sensor (APS) and dynamic vision.
  • Sensor Dynamic Vision Sensor, DVS
  • the active pixel sensor mainly perceives color information
  • the dynamic vision sensor mainly perceives the change information of light intensity.
  • Embodiments of the present disclosure provide a pixel sensing array and a visual sensor, so as to improve the performance of the visual sensor, broaden the application scenarios of the visual sensor, and improve the pixel integration degree of the pixel sensing array.
  • embodiments of the present disclosure provide a pixel sensing array, including a pixel structure, where the pixel structure includes:
  • first pixel sensing unit and a second pixel sensing unit, wherein the first pixel sensing unit is used for receiving light of the first wavelength band, and the second pixel sensing unit is used to receive light of the second wavelength band;
  • the second pixel sensing unit includes a plurality of sub-pixel sensing units, and at least two of the sub-pixel sensing units are disposed adjacent to the first pixel sensing unit.
  • an embodiment of the present disclosure further provides a visual sensor, including a sensing control unit and the pixel sensing array described in the first aspect;
  • the sensing control unit is electrically connected with the first pixel sensing unit and the second pixel sensing unit, and the sensing control unit is used for the first pixel sensing unit and the second pixel sensing unit.
  • the electrical signal obtained by the sensing unit is processed.
  • the pixel sensing array provided by the embodiment of the present disclosure includes a first pixel sensing unit and a second pixel sensing unit, and the pixel sensing array can receive light of a first wavelength band through the first pixel sensing unit, and pass through the second pixel
  • the sensing unit receives the light of the second wavelength band, and when the first wavelength band and the second wavelength band are different wavelength bands, different information in the target light signal can also be sensed by the first pixel sensing unit and the second pixel sensing unit.
  • the second pixel sensing unit includes a plurality of sub-pixel sensing units, and the plurality of sub-pixel sensing units are arranged around the first pixel sensing unit, which helps to reduce the number of the first pixel sensing unit and the sub-pixel sensing units in each pixel structure.
  • the distance between the pixel sensing units is reduced, the distance between adjacent sub-pixel sensing units is reduced, and the photosensitive area of the sub-pixel sensing unit is smaller than that of the first pixel sensing unit.
  • the spacing between adjacent sub-pixel sensing units is smaller, so that the area of the pixel area corresponding to the sub-pixel sensing unit in the pixel sensing array is smaller, and the area between adjacent pixel areas corresponding to adjacent sub-pixel sensing units is smaller.
  • the distance between them is also smaller.
  • the technical solutions of the embodiments of the present disclosure help to solve the problems in the related art that the visual sensor can only acquire a single type of image information and the pixel integration degree is low, and it is beneficial to acquire different types of images through the visual sensor including the pixel sensor array information to improve the performance of the vision sensor, broaden the application scenarios of the vision sensor, and also help to improve the pixel integration of the pixel sensor array, thereby improving the image quality obtained by the vision sensor.
  • FIG. 1 is a schematic structural diagram of a pixel sensing array provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a pixel structure provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of another pixel structure provided by an embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of another pixel structure provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of a pixel structure provided by an embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of another pixel structure provided by an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a pixel sensing array provided by an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a module structure of a visual sensor provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a repeating unit provided by an embodiment of the present disclosure.
  • the visual sensor cannot obtain color information and light intensity change information at the same time, which limits the performance and application of the visual sensor.
  • a vision sensor generally acquires image information through a pixel array composed of photosensitive devices.
  • the pixel integration degree of the vision sensor in the related art is low, which affects the image quality acquired by the vision sensor.
  • FIG. 1 is a schematic structural diagram of a pixel sensing array provided by an embodiment of the present disclosure.
  • the pixel sensing array provided by an embodiment of the present disclosure includes pixels
  • the pixel structure includes: a first pixel sensing unit 10 and a second pixel sensing unit 20; the first pixel sensing unit 10 is used to receive the light of the first wavelength band, and the second pixel sensing unit 20 is used to receive the first pixel sensing unit 20.
  • Two-wavelength light; the second pixel sensing unit 20 includes a plurality of sub-pixel sensing units 210, and at least two sub-pixel sensing units are disposed adjacent to the first pixel sensing unit.
  • the pixel sensing array provided by the embodiment of the present disclosure can be applied to a vision sensor, so as to realize the collection of target light signals through the pixel sensing array, and then convert the target light signal into a corresponding image signal or video signal through the vision sensor, wherein,
  • the target light signal may come from a static character, a dynamic character, a static scene, or a dynamic scene, etc., which is not limited in this embodiment of the present disclosure.
  • both the first pixel sensing unit 10 and the second pixel sensing unit 20 may include photosensitive units, and the first pixel sensing unit 10 and the second pixel sensing unit 20 may be used to form a pixel sensing array
  • a plurality of pixel structures, each pixel structure can correspond to a pixel in the image, so that each pixel structure passes through the first pixel sensing unit 10 and the second pixel sensing unit 20 in the corresponding pixel area.
  • the optical signal is converted into the corresponding electrical signal.
  • the first pixel sensing unit 10 is configured to receive the light of the first wavelength band, which means that the first pixel sensing unit 10 can extract the light of the first wavelength band in the target light signal.
  • the first pixel sensing unit 10 may adopt different structures.
  • the first pixel sensing unit 10 includes a photosensitive unit; or, the first pixel sensing unit 10 includes a photosensitive unit and a filter unit.
  • the first pixel sensing unit 10 includes a photosensitive unit
  • the light of the first wavelength band in the target light signal can be directly extracted by the photosensitive unit, and the light of the first wavelength band can be converted into a corresponding electrical signal.
  • 10 includes a photosensitive unit and a filter unit
  • the light of the first wavelength band in the target light signal can be extracted by the filter unit, and the light of the first wavelength band can be converted into a corresponding electrical signal by the photosensitive unit.
  • the light in the first wavelength band may be light in at least part of the visible light, infrared and ultraviolet wavelength bands.
  • the second pixel sensing unit 20 is configured to receive the light of the second wavelength band, which means that the second pixel sensing unit 20 can extract the light of the second wavelength band in the target optical signal through the sub-pixel sensing unit 210 , and the second pixel sensing unit 20
  • the sub-pixel sensing unit 210 of the pixel sensing unit 20 may adopt different structures.
  • the sub-pixel sensing unit 210 of the second pixel sensing unit 20 includes a photosensitive unit; or, the second pixel sensing unit 20 includes a photosensitive unit and a filter unit.
  • the sub-pixel sensing unit 210 in the second pixel sensing unit 20 includes a photosensitive unit
  • the light of the second wavelength band in the target light signal can be directly extracted by the photosensitive unit, and the light of the second wavelength band can be converted into corresponding electrical light.
  • the sub-pixel sensing unit 210 in the second pixel sensing unit 20 includes a photosensitive unit and a filter unit
  • the light of the second wavelength band in the target light signal can be extracted by the filter unit
  • the second wavelength can be extracted by the photosensitive unit.
  • the wavelengths of light are converted into corresponding electrical signals.
  • the light in the second wavelength band may be light in at least part of the visible light, infrared and ultraviolet wavelength bands.
  • the first band and the second band may be the same band or different bands.
  • the first wavelength band and the second wavelength band are different wavelength bands, it is helpful to sense different information in the target light signal through the first pixel sensing unit 10 and the second pixel sensing unit 20, so as to improve the vision sensor including the pixel structure performance, and broaden the application scenarios of this vision sensor.
  • the first pixel sensing units 10 and the second pixel sensing units 20 are alternately arranged in an array, which means that in each row of the pixel sensing array, the first pixel sensing units 10 and the second pixel sensing units The sensing units 20 are alternately arranged. In each column of the pixel sensing array, the first pixel sensing units 10 and the second pixel sensing units 20 are alternately arranged, and any two first pixel sensing units 10 are not in phase with each other. Adjacent, any two second pixel sensing units 20 are not adjacent.
  • the advantage of this arrangement is that it is beneficial to reduce the spacing between adjacent pixel sensing units, thereby reducing the spacing between adjacent pixel regions corresponding to the pixel sensing units, so as to improve the pixel integration of the pixel sensing array and improve the The image accuracy acquired by the pixel sensing array.
  • FIG. 1 only schematically shows a case where the second pixel sensing unit 20 includes four sub-pixel sensing units 210.
  • the second pixel sensing unit 20 includes a plurality of sub-pixel sensing units 210. This embodiment does not specifically limit the number of the plurality of sub-pixel sensing units 210 .
  • the photosensitive area of each pixel sensing unit is equal.
  • the embodiment of the present disclosure provides that the second pixel sensing unit 20 includes a plurality of sub-pixel sensing units 210,
  • the photosensitive area of the sub-pixel sensing unit 210 is smaller than that of the first pixel sensing unit 10, and the distance between adjacent sub-pixel sensing units 210 is smaller, so that the sub-pixel sensing units 210
  • the area of the corresponding pixel area in the sensing array is smaller, and the spacing between adjacent pixel areas corresponding to adjacent sub-pixel sensing units 210 is also smaller.
  • the pixel integration degree is improved, thereby improving the image accuracy obtained by the pixel sensing array.
  • the pixel sensing array provided by the embodiment of the present disclosure includes a first pixel sensing unit and a second pixel sensing unit, and the pixel sensing array can receive light of a first wavelength band through the first pixel sensing unit, and pass through the second pixel
  • the sensing unit receives the light of the second wavelength band, and when the first wavelength band and the second wavelength band are different wavelength bands, different information in the target light signal can also be sensed by the first pixel sensing unit and the second pixel sensing unit.
  • the second pixel sensing unit includes a plurality of sub-pixel sensing units, and the first pixel sensing unit and the second pixel sensing unit are alternately arranged in an array, so that the photosensitive area of the sub-pixel sensing unit is relatively opposite to that of the first pixel sensing unit.
  • the photosensitive area is smaller, and the spacing between adjacent sub-pixel sensing units is smaller, so that the area of the corresponding pixel area of the sub-pixel sensing unit in the pixel sensing array is smaller, and the adjacent sub-pixel sensing units have smaller areas.
  • the spacing between adjacent pixel regions corresponding to the cells is also smaller.
  • the technical solutions of the embodiments of the present disclosure help to solve the problems in the related art that the visual sensor can only acquire a single type of image information and the pixel integration degree is low, and it is beneficial to acquire different types of images through the visual sensor including the pixel sensor array information to improve the performance of the vision sensor, broaden the application scenarios of the vision sensor, and also help to improve the pixel integration of the pixel sensor array, thereby improving the image quality obtained by the vision sensor.
  • the sum of the photosensitive areas of the multiple sub-pixel sensing units 210 is set to be equal to the photosensitive area of the first pixel sensing unit 10 , that is, the second pixel sensing unit 20 has the same photosensitive area.
  • the photosensitive area is equal to the photosensitive area of the first pixel sensing unit 10 .
  • the first pixel sensing unit 10 and the second pixel sensing unit 20 are arranged alternately in an array in the pixel structure 100 , and a plurality of sub-pixels in the second pixel sensing unit 20
  • the sum of the photosensitive areas of the sensing units 210 is equal to the photosensitive area of the first pixel sensing unit 10, so that the photosensitive area of the second pixel sensing unit 20 is equal to the photosensitive area of the first pixel sensing unit 10, so as to improve the pixel sensitivity
  • the structure of the pixel sensing array is made more regular, which helps to simplify the fabrication process of the pixel sensing array.
  • FIG. 2 is a schematic diagram of a pixel structure provided by an embodiment of the present disclosure, and the pixel structure is a pixel structure in the pixel sensing array shown in FIG. 1 ;
  • FIG. 3 is another pixel structure provided by an embodiment of the present disclosure. Schematic diagram, the pixel structure is another pixel structure in the pixel sensing array shown in FIG. 1;
  • FIG. 4 is a schematic diagram of another pixel structure provided by an embodiment of the present disclosure, and the pixel structure is the pixel sensor shown in FIG. 1 . Another pixel structure in an array. As shown in FIGS.
  • the pixel sensing array includes at least one pixel structure 100
  • the pixel structure 100 includes a first pixel sensing unit 10 and four second pixel sensing units surrounding the first pixel sensing unit 10 .
  • the two second pixel sensing units 20 are the first pixel sensing unit 10 located in the center of the pixel structure 100 on the left and right sides of the first pixel sensing unit 10 .
  • FIG. 1 schematically shows that the pixel sensing array includes a plurality of pixel structures 100, and each pixel structure 100 is the same as the pixel structure 100 shown in FIG. 2. In practical applications, multiple pixel structures 100 in the pixel sensing array are The pixel structure 100 may also be the same as the pixel structure 100 shown in FIG. 3 , or the same as the pixel structure 100 shown in FIG. 4 , or may also be in other forms. The following will describe several forms of the pixel structure 100 in the pixel sensing array. Schematic illustration.
  • the pixel structure 100 may include one first pixel sensing unit 10a, four second pixel sensing units 20 surrounding the first pixel sensing unit 10a, and four second pixel sensing units 20 surrounding the first pixel sensing unit 10a A pixel sensing unit 10b.
  • the pixel structure 100 includes a first pixel sensing unit 10a, two second pixel sensing units 20 located on the upper and lower sides of the first pixel sensing unit 10a, and surrounding the first pixel sensing unit Four first pixel sensing units 10b of 10a.
  • the pixel structure 100 includes a first pixel sensing unit 10a, two second pixel sensing units 20 located on the left and right sides of the first pixel sensing unit 10a, and surrounding the first pixel sensing unit 10a.
  • Four first pixel sensing units 10b of 10a are illustrated in FIG. 1 to FIG. 4 all illustrate the case where the pixel structure 100 includes four first pixel sensing units 10b surrounding the first pixel sensing unit 10a, in practical applications, the pixel structure 100 may also include only four One, two, or three of the first pixel sensing units 10b are not limited in this embodiment of the present disclosure.
  • each pixel structure 100 in the pixel sensing array may correspond to one pixel area.
  • each pixel structure 100 may The first pixel sensing unit 10 extracts the light of the first wavelength band in the target light signal, and converts the light of the first wavelength band into a corresponding electrical signal, which passes through the sub-pixel sensing unit 210 in each second pixel sensing unit 20 Extracting the light of the second waveband in the target optical signal, and converting the light of the second waveband into a corresponding electrical signal.
  • this solution is beneficial to enable the visual sensor to determine the first pixel area of the pixel area according to the difference between the electrical signals converted by different first pixel sensing units 10 in each pixel structure 100.
  • the change amount of light in one wavelength band, and the image information corresponding to the light in the second wavelength band of the pixel area is determined by the plurality of sub-pixel sensing units 210 in the second pixel sensing unit 20, so that the visual sensor can determine each pixel area two kinds of image information.
  • the pixel structure 100 when the pixel structure 100 includes the second pixel sensing units 20 on the left and right sides of the first pixel sensing unit 10 a located in the center, two adjacent pixels in the row direction
  • the structure 100 shares the second pixel sensing unit 20 between the two centrally located first pixel sensing units 10a.
  • the advantage of this arrangement is that in each row of pixel structures, the multiplexing of the second pixel sensing units in adjacent pixel structures is realized.
  • the pixel structure 100 can determine and characterize the pixel area according to its own second pixel sensing unit 20 .
  • the color light intensity signal of the light wherein the second pixel sensing unit 20 located on the right side of the first pixel sensing unit 10a may also be the second pixel sensing unit in the adjacent pixel structure 100b, so as to realize the first pixel sensing unit 20.
  • the multiplexing of the two-pixel sensing units 20 is also beneficial to improve the pixel fill factor of the pixel sensing array.
  • the first pixel sensing units 10 in the pixel structure 100 other than the first pixel sensing unit 10 located in the center are replaced by the pixel structure where the pixel structure 100 is located.
  • 100 and the pixel structure 100 adjacent to itself are shared.
  • the advantage of this arrangement is that the multiplexing of the first pixel sensing units in adjacent pixel structures is realized.
  • the pixel structure 100 can be based on the electrical energy converted by the first pixel sensing unit 10a and the first pixel sensing unit 10b.
  • the differential signal of the signal is used to obtain the light intensity change signal representing the light in the pixel area, wherein the two first pixel sensing units 10b on the right side of the first pixel sensing unit 10a may also be adjacent pixel structures 100b
  • the second pixel sensing unit 20 includes a plurality of sub-pixel sensing units 210 , and the plurality of sub-pixel sensing units 210 are arranged around the first pixel sensing unit 10 .
  • FIG. 5 only schematically shows a case where one second pixel sensing unit includes twelve sub-pixel sensing units 210 arranged around the first pixel sensing unit 10 .
  • the number of sub-pixel sensing units 210 in the second pixel sensing unit can be set according to requirements, which is not specifically limited in this embodiment.
  • the multiple sub-pixel sensing units 210 are arranged around the first pixel sensing unit 10 , which means that the multiple sub-pixel sensing units 210 in the second pixel sensing unit are connected end to end and surround the first pixel sensing unit 10 .
  • the photosensitive area of each pixel sensing unit is equal, and different pixel sensing units in the pixel sensing array are alternately arranged.
  • the two-pixel sensing unit 20 includes a plurality of sub-pixel sensing units 210, and the plurality of sub-pixel sensing units 210 are arranged around the first pixel sensing unit 10, so that the first pixel sensing unit 10 can receive the pixel area corresponding to the pixel structure 100
  • the plurality of sub-pixel sensing units 210 can receive the light of the second wavelength band around the first pixel sensing unit 10 in the pixel area, which is helpful to determine the image signal or video signal of the pixel area, and at the same time , also helps to reduce the distance between the center of the first pixel sensing unit 10 and the center of the sub-pixel sensing unit 210, and reduce the distance between adjacent sub-pixel sensing units 210, thereby improving the pixel
  • the pixel integration degree of the sensing array is improved, thereby improving the image accuracy obtained by the pixel sensing array.
  • the photosensitive area of the sub-pixel sensing unit 210 is set to be smaller than the photosensitive area of the first pixel sensing unit 10 .
  • the photosensitive area of each pixel sensing unit is equal.
  • the photosensitive area of the sub-pixel sensing unit 210 is set smaller than that of the first pixel sensing unit 10 .
  • the light-sensing area of 100 is not only helpful to reduce the distance between the first pixel sensing unit 10 and the sub-pixel sensing unit 210 in each pixel structure 100, but also helps to reduce the adjacent sub-pixel sensing units 210 to improve the pixel integration of the pixel sensor array, thereby improving the image quality obtained by the vision sensor.
  • the photosensitive area of each sub-pixel sensing unit 210 may be set to be a quarter of the photosensitive area of the first pixel sensing unit 10 , which is the same as that of the sub-pixel sensing unit 210 and the first pixel sensing unit 10 .
  • this solution makes each side edge of the first pixel sensing unit 10 adjacent to the two sub-pixel sensing units 210, which helps to reduce the gap between adjacent pixel sensing units by reducing the The distance can improve the pixel integration degree of the pixel sensing array, thereby improving the image accuracy obtained by the pixel sensing array.
  • the pixel sensing array helps to solve the problems in the related art that the visual sensor can only obtain a single type of image information and the pixel integration is low, and is beneficial to obtain different image information through the visual sensor including the pixel sensing array.
  • Various types of image information can improve the performance of the vision sensor, broaden the application scenarios of the vision sensor, and also help to improve the pixel integration of the pixel sensor array, thereby improving the image quality obtained by the vision sensor.
  • each pixel structure 100 includes a first pixel sensing unit 10 and a second pixel sensing unit 20 ; a plurality of sub-pixel sensing units 210 are arranged around four sides of the first pixel sensing unit 10 , the number of sub-pixel sensing units 210 surrounding each side edge of the first pixel sensing unit 10 is equal, and a row of sub-pixel sensing units 210 surrounding adjacent edges of the first pixel sensing unit 10 is connected to a column of sub-pixel sensing units 210 .
  • the sensing units 210 are connected and share one sub-pixel sensing unit 210 .
  • FIG. 5 shows the case where the photosensitive areas of the first pixel sensing unit 10 and the sub-pixel sensing unit 210 are both approximately square, so that the photosensitive area of each sub-pixel sensing unit 210 is the photosensitive area of the first pixel sensing unit 10
  • a quarter of the area is taken as an example to illustrate: a second pixel sensing unit 20 includes twelve sub-pixel sensing units 210, and the twelve sub-pixel sensing units 210 surround the four side edges of the first pixel sensing unit 10, Each side edge of the first pixel sensing unit 10 is provided with four sub-pixel sensing units 210 correspondingly.
  • the sensing units 210 are connected to each other and share one sub-pixel sensing unit 210 , that is, each of the four sub-pixel sensing units 210 located at the four corners of the pixel structure 100 is controlled by the sub-pixel sensing unit 210 and the sub-pixel sensing unit 210 of the row to which it belongs.
  • a column of sub-pixel sensing units 210 is shared. The advantage of this arrangement is that each side edge of the first pixel sensing unit 10 is adjacent to the two sub-pixel sensing units 210 , and the four corners of the first pixel sensing unit 10 are also adjacent to the four sub-pixel sensing units 210 .
  • Adjacent it is helpful to use the first pixel sensing unit 10 in each pixel structure 100 to receive the light of the first wavelength band, and use the sub-pixel sensing unit 210 to receive the light of the second wavelength band, thereby assisting in determining the corresponding pixel structure 100 It also helps to improve the pixel integration degree of the pixel sensing array, thereby improving the image accuracy obtained by the pixel sensing array.
  • the first pixel sensing unit 10 is further configured to convert the light of the first wavelength band into an electrical signal representing its light intensity information; the second pixel sensing unit 20 is further It is used to convert the light of the second band into an electrical signal that characterizes its color light intensity information.
  • the first pixel sensing unit 10 converts the light of the first wavelength band into an electrical signal representing its light intensity information, where the light intensity information is the light intensity information of the light of the first wavelength band, which can also be understood as light Strong corresponding grayscale information.
  • the second pixel sensing unit 20 converts the light of the second wavelength band into an electrical signal representing its color light intensity information, wherein the color light intensity information includes not only absolute light intensity information, but also light chromaticity information.
  • the solution is beneficial to enable the visual sensor to determine the pixel according to the difference between the electrical signals converted by different first pixel sensing units 10 in each pixel structure 100.
  • the change amount of the light intensity of the light in the first waveband of the region so as to increase the dynamic range of the image collected by the vision sensor and improve the shooting speed of the vision sensor.
  • the electrical signal converted by the sensing unit 210 determines the color intensity information of the light of the second wavelength band in the pixel area, so as to improve the color reproduction degree and image quality of the image collected by the vision sensor.
  • the technical solution of this embodiment helps to simultaneously obtain high-quality color light intensity signals and high-speed light intensity variation signals through the pixel structure, and enriches the image quality of the image obtained by the pixel structure through the complementation of the two modes of image signals. visual information.
  • At least one of the first waveband and the second waveband includes an infrared waveband, or at least one of the first waveband and the second waveband includes an ultraviolet waveband, for example, the first waveband includes a visible light waveband and an infrared waveband, and the second waveband includes Visible light waveband; both the first waveband and the second waveband include both the visible light waveband and the infrared waveband; the first waveband includes the visible light waveband and the ultraviolet waveband, and the second waveband includes the visible light waveband; both the first waveband and the second waveband include both the visible light waveband , including the ultraviolet band.
  • the advantage of this setting is that when the first wavelength band and the second wavelength band are different wavelength bands, it is helpful to sense different information in the target light signal through the first pixel sensing unit 10 and the second pixel sensing unit 20, so as to improve the The performance of the vision sensor with the pixel structure and the application scenarios of the vision sensor are broadened.
  • the vision sensor can be applied to an infrared camera scene
  • the first band when at least one of the second wavelength bands includes an ultraviolet wavelength band, the vision sensor can be applied to an ultraviolet imaging scene.
  • the first wavelength band includes an infrared wavelength band
  • the first pixel sensing unit 10 includes a first photosensitive device
  • the first photosensitive device is an infrared photosensitive device.
  • the first photosensitive device may be a photodiode (Photo-Diode, PD) capable of converting optical signals into corresponding electrical signals.
  • the first photosensitive device may be a photosensitive device sensitive to infrared rays, such as an infrared photodiode. So that the first pixel sensing unit can sense the light intensity change information of infrared rays in the target light signal through the first photosensitive device.
  • the first pixel sensing unit 10 includes a second photosensitive device and a first filter device disposed on the second photosensitive device, and the second photosensitive device is an infrared photosensitive device The device and/or the first filter device is an infrared filter device.
  • the first filter device is used to select the wavelength band of the light passing through the device, and the first filter device may be a color filter or an optical signal capable of extracting a set component optical lenses, such as Byron lenses.
  • the first filter device can be arranged on the photosensitive surface of the second photosensitive device, so that the target light signal is first irradiated to the surface of the first filter device, and the first filter device can detect the first wavelength band including the infrared wavelength band in the target light signal.
  • the light of the first wavelength band is extracted, so that the light of the first wavelength band is irradiated to the photosensitive surface of the second photosensitive device, and the light signal of the first set wavelength band is converted into a corresponding electrical signal by the second photosensitive device.
  • the second photosensitive device to be an infrared photosensitive device and/or the first filter device to be an infrared filter device in the embodiment of the present disclosure, it is helpful for the first pixel sensing unit to sense the light intensity change information of infrared light in the target light signal.
  • the first wavelength band includes an ultraviolet wavelength band; the first pixel sensing unit 10 includes a first photosensitive device, and the first photosensitive device is an ultraviolet photosensitive device.
  • the first photosensitive device may be a photosensitive device sensitive to ultraviolet rays, such as an ultraviolet photodiode. So that the first pixel sensing unit 10 can sense the light intensity change information of ultraviolet rays in the target light signal through the first photosensitive device.
  • the first pixel sensing unit 10 includes a second photosensitive device and a first filter device disposed on the second photosensitive device, and the second photosensitive device is an ultraviolet photosensitive device The device and/or the first filter device is an ultraviolet filter device.
  • the second photosensitive device is an ultraviolet photosensitive device and/or the first filter device to be an ultraviolet filter device in the embodiment of the present disclosure, it is helpful for the first pixel sensing unit to sense the light intensity change information of ultraviolet light in the target light signal.
  • the second pixel sensing unit 20 includes at least three sub-pixel sensing units 210, and the at least three sub-pixel sensing units 210 are respectively configured to receive light of different color components, and output light representing the corresponding color components An electrical signal of light intensity information.
  • each sub-pixel sensing unit 210 in the second pixel sensing unit 20 may include a light-sensing unit and a filter unit, the light of the corresponding color component is extracted by the filter unit, and the light is converted into a representative color component by the light-sensing unit.
  • the second pixel sensing unit 20 at least includes a sub-pixel sensing unit 210R whose center frequency is red, a sub-pixel sensing unit 210G whose center frequency is green, and a sub-pixel sensing unit 210B whose center frequency is blue.
  • the sub-pixel sensing unit 210R whose center frequency is red is the sub-pixel sensing unit that mainly extracts the light of the red component in the light of the second wavelength band and converts it into an electrical signal representing the light intensity information of its color component.
  • the sub-pixel sensing unit 210G whose center frequency is green is the sub-pixel sensing unit that mainly extracts the light of the green component in the light of the second wavelength band and converts it into an electrical signal representing the light intensity information of its color component.
  • the advantage of such an arrangement is that the absolute light intensity information and chromaticity information of light of different color components can be acquired with high precision.
  • the sub-pixel sensing unit 210G whose center frequency is green
  • the sub-pixel sensing unit 210R whose center frequency is red
  • the center The number ratio of the sub-pixel sensing units 210B whose frequency is blue is 2:1:1.
  • each second pixel sensing unit 20 includes two sub-pixel sensing units 210G whose center frequency is green, and one sub-pixel sensing unit 210G whose center frequency is red.
  • the sub-pixel sensing unit 210R and a sub-pixel sensing unit 210B whose center frequency is blue.
  • the pixel color light intensity ratios perceived by each pixel structure 100 are: 50% green, 25% red, and 25% blue, and green has the highest ratio, so that demosaicing digital image processing can be used.
  • the algorithm reconstructs a full-color image from the incomplete color samples output by the photosensitive unit covered with the green array. Since the human eye is most sensitive to green, this arrangement can increase the proportion of green sampling, so as to obtain the desired target. image.
  • the first pixel sensing unit 10 is used for simulating rod cells, so as to obtain an electrical signal representing the light intensity variation of the light in the first waveband; the second The pixel sensing unit 20 is used for simulating cone cells to acquire electrical signals representing color intensity information of light in the second wavelength band.
  • the embodiments of the present disclosure can use the pixel structure 100 to simulate different visual perception cells in the retina of the human eye, and the first pixel sensing unit 10 converts the light of the first wavelength band into electrical light representing its light intensity information.
  • signal and according to the difference between the electrical signals converted by different first pixel sensing units 10 in each pixel structure 100, determine the electrical signal representing the light intensity variation of the first wavelength band of the pixel area to simulate
  • the rod cells obtain the light intensity gradient information, thereby improving the perception ability of the pixel structure to the dynamic target, and increasing the dynamic range and shooting speed of the image collected by the pixel structure; through the sub-pixel sensing unit 210 in the second pixel sensing unit 20 Converting the light in the second band into an electrical signal representing its color light intensity information to simulate the cone cells to obtain the color light intensity information is beneficial to improve the color reproduction degree and image quality of the image collected by the pixel structure.
  • the first pixel sensing unit 10 located in the center is used to simulate excitatory rod cells, so as to convert the light in the corresponding area into the light intensity information representing its light intensity. Electrical signals; the other first pixel sensing units 10 are used to simulate inhibitory rod cells to convert the light in the corresponding area into electrical signals representing its light intensity information; the second pixel sensing units 20 are used to simulate cone cells , to convert the light of the corresponding area into an electrical signal representing its light intensity information.
  • the first pixel sensing unit 10a at the center is used to simulate excitatory rod cells, and the first pixel sensing units 10b at the four corners are used to simulate inhibitory rod cells. cells, the four second pixel sensing units 20 are all used to simulate cone cells; in the pixel structure 100 shown in FIG. 3 , the first pixel sensing unit 10a in the center is used to simulate excitatory rod cells, and is located in the four corners The first pixel sensing units 10b are used to simulate suppressive rod cells, and the two second pixel sensing units 20 located on the upper and lower sides of the first pixel sensing unit 10a are used to simulate cone cells; in FIG.
  • the first pixel sensing unit 10a located in the center is used to simulate excitatory rod cells, and the first pixel sensing units 10b located at the four corners are used to simulate inhibitory rod cells, and the first pixel sensing units 10b located in the first pixel
  • the two second pixel sensing units 20 on the left and right sides of the sensing unit 10a are both used to simulate cone cells.
  • the pixel structure 100 includes four first pixel sensing units 10b surrounding the first pixel sensing unit 10a, but in practical applications, when the pixel structure 100 may only include When one, two or three of the four first pixel sensing units 10b are used, the first pixel sensing units 10b in the corresponding pixel structure 100 are all used to simulate suppressive rod cells.
  • the visual sensor may associate the value corresponding to the electrical signal converted by the first pixel sensing unit 10a in the center of each pixel structure 100 with the first pixel sensing unit.
  • the electrical signal converted in 10b is subjected to a differential operation to obtain a differential signal, thereby simulating the excitatory rod cells and inhibitory rod cells of the human eye to obtain an electrical signal representing the variation of the light intensity of the light in the pixel area.
  • the visual sensor can directly use the value corresponding to the electrical signal converted by the first pixel sensing unit 10a to the electrical signal converted by the first pixel sensing unit 10b.
  • the corresponding values are differenced to obtain a differential signal.
  • the visual sensor may, according to the value corresponding to the electrical signal converted by the first pixel sensing unit 10a, match the electrical value converted by each first pixel sensing unit 10b with the electrical signal converted by the first pixel sensing unit 10b.
  • the average value of the values corresponding to the signals is subtracted to obtain a differential signal.
  • the visual sensor can also convert the light of the second wavelength band into an electrical signal representing its color light intensity information through the sub-pixel sensing unit 210 in the second pixel sensing unit 20, so as to simulate the cone cells to obtain the color light intensity information.
  • each second pixel sensing unit 20 may include a plurality of sub-pixel sensing units 210
  • one first pixel sensing unit 10 may be surrounded by a plurality of sub-pixel sensing units 210 .
  • this solution is beneficial to enable the visual sensor to acquire the electrical signal corresponding to the light of the second wavelength band only according to the part of the second pixel sensing unit 20 around the first pixel sensing unit 10, It is not necessary to acquire electrical signals corresponding to the light of the second wavelength band according to all the second pixel sensing units 20 around the first pixel sensing unit 10 .
  • the visual sensor can determine the light of the second wavelength band in the pixel area according to the two second pixel sensing units 20 located on the upper and lower sides of the first pixel sensing unit 10a in each pixel structure 100
  • the visual sensor can determine the second pixel in the pixel area according to the two second pixel sensing units 20 located on the left and right sides of the first pixel sensing unit 10 a in each pixel structure 100 .
  • the advantage of this setting is that the corresponding image processing algorithm can be simplified.
  • FIG. 6 is a schematic diagram of another pixel structure provided by an embodiment of the present disclosure.
  • the sub-pixel sensing units 210 surrounding each side edge of the first pixel sensing unit 10 include a red sub-pixel sensing unit 210R, a green sub-pixel sensing unit 210G and a blue sub-pixel sensing unit 210G.
  • the center frequency of the sub-pixel sensing units 210 shared by a row of sub-pixel sensing units 210 surrounding each adjacent edge of the first pixel sensing unit 10 and a column of sub-pixel sensing units 210 is the same.
  • the sub-pixel sensing unit 210 surrounding each side edge of the first pixel sensing unit 10 includes a red sub-pixel sensing unit 210R, a green sub-pixel sensing unit 210G and a blue sub-pixel sensing unit 210G. unit 210B, so that the red sub-pixel sensing unit 210R, the green sub-pixel sensing unit 210G and the blue sub-pixel sensing unit 210B surrounding any edge of the first pixel sensing unit 10 in the pixel structure 100 can be used for Obtain the absolute light intensity information and chromaticity information of the light of different color components in the pixel area, so as to improve the convenience of obtaining image information.
  • the sub-pixel sensing units 210 are both blue sub-pixel sensing units 210B
  • a row of sub-pixel sensing units 210 and a column of sub-pixel sensing units surrounding each adjacent edge of the first pixel sensing unit 10 are arranged
  • the sub-pixel sensing units 210 shared by 210 have the same center frequency, which can realize the multiplexing of the sub-pixel sensing units 210 located at the four corners of the pixel structure 100 to improve the pixel fill factor of the pixel sensing array.
  • a row of sub-pixel sensing units 210 surrounding each adjacent edge of the first pixel sensing unit 10 and a sub-pixel sensing unit 210 shared by a column of sub-pixel sensing units 210 are all blue sub-pixel sensing units
  • the unit 210B, each sub-pixel sensing unit 210 surrounding the first pixel sensing unit 10 is arranged in a center-symmetrical manner with respect to the pixel structure 100, and in the pixel structure 100, the red sub-pixel sensing unit 210R and the green sub-pixel sensing unit 210R
  • the number ratio of the unit 210G to the blue sub-pixel sensing unit 210B is 1:1:1.
  • one second pixel sensing unit 20 includes twelve sub-pixel sensing units 210 as an example for description.
  • Each side edge of the first pixel sensing unit 10 is provided with four sub-pixel sensing units 210 correspondingly, and the sub-pixel sensing units 210 located at the four corners of the pixel structure 100 are also the blue sub-pixel sensing units 210B.
  • each sub-pixel sensing unit 210 is centrally symmetrically arranged with respect to the pixel structure 100, and the number ratio of the red sub-pixel sensing unit 210R, the green sub-pixel sensing unit 210G and the blue sub-pixel sensing unit 210B is 1 : 1:1, so that among the four sub-pixel sensing units 210 disposed corresponding to each side edge of the first pixel sensing unit 10, the two sub-pixel sensing units 210 on both sides are blue sub-pixel sensing units 210B, one of the two sub-pixel sensing units 210 in the middle is a red sub-pixel sensing unit 210R, and the other is a green sub-pixel sensing unit 210G.
  • the advantage of this arrangement is that there are three consecutive sub-pixel sensing units in a column from the sub-pixel sensing unit 210 in the upper right corner of the pixel structure 100 , and a row from the sub-pixel sensing unit 210 in the lower right corner of the pixel structure 100 Three consecutive sub-pixel sensing units, a column of three consecutive sub-pixel sensing units from the sub-pixel sensing unit 210 in the lower left corner of the pixel structure 100, and a sub-pixel sensing unit from the upper left corner of the pixel structure 100 A row of three consecutive sub-pixel sensing units from unit 210, wherein every three consecutive sub-pixel sensing units 210 includes a red sub-pixel sensing unit 210R, a green sub-pixel sensing unit 210G and a blue sub-pixel Sensing unit 210B, and every three consecutive sub-pixel sensing units 210 can be used to obtain absolute light intensity information and chromaticity information of light of different color components in the pixel area, so as to improve the convenience of obtaining image information .
  • the sub-pixel sensing unit 210 includes a sub-sensing device and a second filter device disposed on the sub-sensing device, and the filter colors of the second filter devices in the at least three sub-pixel sensing units 210 different.
  • the sub-sensing device may be a photodiode capable of converting an optical signal into a corresponding electrical signal.
  • the second filter device is used to select the wavelength band of the light passing through the device, and the first filter device may be a color filter, or an optical lens capable of extracting a set component of the optical signal, such as a Byron lens.
  • the second optical filter device can be arranged on the photosensitive surface of the sub-photosensitive device. After the second optical filter device extracts the optical signal of the second wavelength band in the target optical signal, the sub-photosensitive device can convert the light of the second wavelength band into the corresponding electrical light. Signal.
  • the second pixel sensing unit 20 includes a sub-pixel sensing unit 210R whose center frequency is red, a sub-pixel sensing unit 210G whose center frequency is green, and a sub-pixel sensing unit 210B whose center frequency is blue
  • the second filter devices corresponding to the sub-pixel sensing unit 210R whose center frequency is red, the sub-pixel sensing unit 210G whose center frequency is green, and the sub-pixel sensing unit 210B whose center frequency is blue are red, green, and blue, respectively. color second filter device.
  • the second filter devices in the four sub-pixel sensing units respectively affect the light signal in the red band, the light signal in the green band and the light signal in the blue band in the target light signal.
  • the optical signal is extracted, so that the sub-photosensitive device in the second pixel sensing unit 20 can convert the optical signal of the corresponding wavelength band into the corresponding electrical signal.
  • the second pixel sensing unit 20 realizes high-precision acquisition of absolute light intensity information and chromaticity information of the light signals of different components by sensing the light signals of different components in the target light signal.
  • the second filter device when the second wavelength band includes an infrared wavelength band, the second filter device includes an infrared filter device.
  • the second pixel sensing unit 20 can not only sense the light signal of the red light component, the light signal of the green light component and the light signal of the blue light component in the target light signal, but also can sense the light signal of the infrared component, which improves the pixel structure.
  • the second filter device when the second wavelength band includes an ultraviolet wavelength band, the second filter device includes an ultraviolet filter device.
  • the second pixel sensing unit 20 can not only sense the light signal of the red light component, the light signal of the green light component and the light signal of the blue light component in the target light signal, but also the light signal of the ultraviolet component, which improves the pixel structure.
  • the perception ability of the color light intensity information of ultraviolet light in the target light signal is not only sense the light signal of the red light component, the light signal of the green light component and the light signal of the blue light component in the target light signal, but also the light signal of the ultraviolet component, which improves the pixel structure.
  • the pixel structure 100 includes the second pixel sensing units 20 on the upper and lower sides of the first pixel sensing unit 10 a located in the center,
  • the two pixel structures 100 adjacent in the direction share the second pixel sensing unit 20 between the two centrally located first pixel sensing units 10a.
  • the advantage of this arrangement is that in each column of pixel structures, the multiplexing of the second pixel sensing units in adjacent pixel structures is realized.
  • the pixel structure 100 can determine and characterize the pixel area according to its own second pixel sensing unit 20 .
  • the color light intensity signal of the light wherein the second pixel sensing unit 20 located under the first pixel sensing unit 10a may also be the second pixel sensing unit in the adjacent pixel structure 100a, so as to realize the second pixel sensing unit 20 in the adjacent pixel structure 100a.
  • the multiplexing of the pixel sensing units 20, and this arrangement is also beneficial to improve the pixel fill factor of the pixel sensing array.
  • FIG. 7 is a schematic structural diagram of a pixel sensing array provided by an embodiment of the present disclosure.
  • the pixel sensing array may include the pixel structure 100 shown in FIG. 5 or FIG. 6 .
  • a plurality of pixel structures 100 are arranged in an array to form a pixel sensing array; any two adjacent pixel structures 100 share an adjacent row or column of sub-pixel sensing units 210 .
  • each pixel structure 100 in the pixel sensing array may correspond to one pixel in the image, so that each pixel structure 100 is sensed by the first pixel sensing unit 10 and the second pixel sensing unit 100 therein.
  • the unit 20 converts the optical signals in the corresponding pixel regions into corresponding electrical signals.
  • any two adjacent pixel structures 100 share two adjacent rows or one column of sub-pixel sensing units 210, which means that any two adjacent pixel structures 100 in each row share one adjacent one of the two adjacent pixel structures 100.
  • a column of sub-pixel sensing units 210 that is, the column of sub-pixel sensing units 210 belongs to two adjacent pixel structures 100 at the same time, and both adjacent pixel structures 100 can use this column of sub-pixel sensing units 210 to receive the second wavelength band.
  • any two adjacent pixel structures 100 in each column share two adjacent rows of sub-pixel sensing units 210 , that is, the sub-pixel sensing units 210 in this row belong to two adjacent pixel structures 100 at the same time.
  • two adjacent pixel structures 100 can use the row of sub-pixel sensing units 210 to receive light of the second wavelength band.
  • the first pixel structure 100 and the second pixel structure 100 share a column of sub-pixel sensing units 210 adjacent to the two, that is, located in the first pixel.
  • a column of sub-pixel sensing units 210 on the right side of the first pixel sensing unit 10 of the structure 100 can be shared by the first pixel structure 100 and the second pixel structure 100, and the pixel structure 100 in the first column of the pixel sensing array , the first pixel structure 100 and the second pixel structure 100 share a row of sub-pixel sensing units 210 adjacent to the two, that is, a row of sub-pixels located below the first pixel sensing unit 10 of the first pixel structure 100
  • the sensing unit 210 may be shared by the first pixel structure 100 and the second pixel structure 100 .
  • the advantage of this arrangement is that it not only realizes the multiplexing of sub-pixel sensing units in adjacent pixel structures, but also helps to improve the pixel fill factor of the pixel sensing array.
  • FIG. 8 is a schematic diagram of a module structure of a visual sensor provided by an embodiment of the present disclosure.
  • the visual sensor provided by the embodiment of the present disclosure includes a sensing control unit. 30 and the pixel sensing array provided by any of the above embodiments of the present disclosure; the sensing control unit 30 is electrically connected to the first pixel sensing unit 10 and the second pixel sensing unit 20, and the sensing control unit 30 is used to detect the first pixel The electrical signals obtained by the sensing unit 10 and the second pixel sensing unit 20 are processed.
  • the first pixel sensing unit 10 can extract the light of the first wavelength band in the target light signal, and convert the light of the first wavelength band into a corresponding electrical signal
  • the second pixel sensing unit 20 can pass the sub-pixels therein.
  • the sensing unit 210 extracts the light of the second wavelength band in the target light signal, and converts the light of the second wavelength band into a corresponding electrical signal
  • the sensing control unit 30 can convert the electrical signal of the first pixel sensing unit 10
  • the electrical signal converted by the sub-pixel sensing unit 210 in the second pixel sensing unit 20 is processed to obtain image information of the pixel area corresponding to the pixel structure.
  • the visual sensor provided by the embodiments of the present disclosure includes the pixel sensing array provided by any of the above embodiments of the present disclosure. Therefore, the visual sensor has the corresponding functional structure and beneficial effects of the pixel sensing array, which will not be repeated here.
  • the pixel sensing array includes at least one pixel structure 100
  • the pixel structure 100 includes a first pixel sensing unit 10 surrounding the first pixel sensing unit. At least two of the four second pixel sensing units 20 of the 10, and at least one of the four first pixel sensing units 10 surrounding the first pixel sensing unit 10; the first pixel sensing unit 10 also It is used to convert the light of the first wavelength band into an electrical signal representing its light intensity information; the second pixel sensing unit 20 is also used to convert the light of the second wavelength band into an electrical signal representing its color light intensity information; accordingly,
  • the sensing control unit 30 is configured to generate an optical signal representing the first wavelength band according to the difference between the electrical signals converted by the first pixel sensing unit 10 located in the center and the other first pixel sensing units 10 in the pixel structure 100 . An electrical signal of the amount of change in light intensity.
  • the sensing control unit 30 may perform a differential operation on the value corresponding to the electrical signal converted by the first pixel sensing unit 10a in the center of each pixel structure 100 and the electrical signal converted by the first pixel sensing unit 10b,
  • the excitatory rod cells and inhibitory rod cells of the human eye can be simulated to obtain electrical signals representing the change of light intensity of the light in the pixel area, so as to improve the visual sensor's ability to perceive dynamic targets and increase the The dynamic range of the images captured by the vision sensor and improve the shooting speed of the vision sensor.
  • the sensing control unit 30 may directly correspond to the value of the electrical signal converted by the first pixel sensing unit 10a, and the first pixel sensing unit 10b The values corresponding to the converted electrical signals are subtracted to obtain a differential signal.
  • the sensing control unit 30 may, according to the value corresponding to the electrical signal converted by the first pixel sensing unit 10a, correspond with each of the first pixel sensing units 10b The average value of the values corresponding to the converted electrical signals is subtracted to obtain a differential signal.
  • the sensing control unit 30 is further configured to use the electrical signal representing the light intensity variation of the light signal in the first wavelength band, and at least one of the pixel structures 100 .
  • the two second pixel sensing units 20 convert electrical signals representing color intensity information of light in the second wavelength band to generate image signals.
  • the sensing control unit 30 can also convert the light of the second wavelength band into an electrical signal representing its color light intensity information through the sub-pixel sensing unit 210 in the second pixel sensing unit 20, so as to simulate the acquisition of cone cells. Color light intensity information.
  • the sensing control unit 30 may acquire the electrical signal corresponding to the light of the second wavelength band only according to a part of the second pixel sensing unit 20 around the first pixel sensing unit 10 , but not necessarily according to all the surrounding areas of the first pixel sensing unit 10 .
  • the second pixel sensing unit 20 obtains the electrical signal corresponding to the light of the second wavelength band.
  • the visual sensor can be based on the two second pixel sensing units 20 on the left and right of the first pixel sensing unit 10 in each pixel structure 100, or The upper and lower second pixel sensing units 20 are used to determine the electrical signal corresponding to the light of the second wavelength band in the pixel area.
  • the advantage of this setting is that the corresponding image processing algorithm can be simplified.
  • the technical solution of this embodiment helps to simultaneously obtain high-quality color light intensity signals and high-speed light intensity variation signals through the pixel structure, and the color light intensity signals and The light intensity variation signal obtains the image signal of the corresponding pixel area, thereby enriching the visual information of the image acquired by the vision sensor.
  • FIG. 9 is a schematic structural diagram of a repeating unit provided by an embodiment of the present disclosure, and the repeating unit may be a repeating unit in the pixel sensing array shown in FIG. 7 .
  • the first pixel sensing unit 10 is also used to convert the light of the first wavelength band into an electrical signal representing its light intensity information;
  • the second pixel sensing unit 20 is also used to The two-band light is converted into an electrical signal representing its color and light intensity information;
  • a plurality of pixel structures 100 are arranged in an array to form a pixel sensing array; any two adjacent pixel structures 100 share the adjacent row or One column of sub-pixel sensing units 210; there are multiple repeating units in the pixel sensing array, and each repeating unit includes one pixel structure 100 located in the center of the pixel structures 100 in three rows and three columns, and four pixel structures 100 located at the four corners ;
  • the sensing control unit 30 is used for at least one of the first pixel sensing units 10 (ie, the
  • FIG. 7 shows the case where the pixel structure 100 of the even-numbered rows includes the first pixel sensing unit 10a, and the pixel structure 100 of the odd-numbered rows includes the first pixel sensing unit 10b in the pixel sensing array, that is, the pixels of the even-numbered rows of the pixel sensing array
  • the structure 100 is the pixel structure 100 located in the center in the repeating unit
  • the sensing control unit 30 can convert the value corresponding to the electrical signal converted by the first pixel sensing unit 10a in the pixel structure 100 located in the center of each repeating unit to the value corresponding to the electrical signal located at the four corners.
  • the electrical signal converted by the first pixel sensing unit 10b in the pixel structure 100 is subjected to a differential operation to obtain a differential signal, thereby simulating the excitatory rod cells and inhibitory rod cells of the human eye to obtain the light characteristic of the pixel area.
  • the electrical signal of the light intensity change can improve the perception ability of the vision sensor for dynamic targets, increase the dynamic range of the image collected by the vision sensor, and improve the shooting speed of the vision sensor.
  • the sensing control unit 30 may make a difference between the value corresponding to the electrical signal converted by the first pixel sensing unit 10a and the value corresponding to the electrical signal converted by any one of the four first pixel sensing units 10b, to obtain a differential signal; or, the sensing control unit 30 corresponds to the electrical signal converted by any two of the four first pixel sensing units 10b according to the value corresponding to the electrical signal converted by the first pixel sensing unit 10a.
  • the average value of the values is subtracted to obtain a differential signal; or, the sensor control unit 30 can compare the value corresponding to the electrical signal converted by the first pixel sensing unit 10a with any three of the four first pixel sensing units 10b.
  • the average value of the values corresponding to the converted electrical signals is subtracted to obtain a differential signal;
  • the average value of the values corresponding to the electrical signals converted by the unit 10b is differentiated to obtain a differential signal.
  • two repeating units that are spaced apart share two first pixel sensing units 10 in two adjacent pixel structures 100;
  • adjacent repeating units share the first pixel sensing unit 10 in the two adjacent pixel structures 100 .
  • the three repeating units in the pixel sensing array are highlighted with bold lines, that is, two repeating units in the pixel structure 100 in the first three rows and two repeating units in the pixel structure 100 in the last three rows.
  • Three repeating units are used as an example to illustrate.
  • the two repeating units that are spaced apart refer to the first and third repeating units in the pixel structure 100 in the first three rows, wherein the first repeating unit refers to the first repeating unit.
  • the second pixel structure 100 in the second row is the repeating unit
  • the third repeating unit refers to the repeating unit centered on the fourth pixel structure 100 in the second row.
  • a repeating unit is separated from each other, that is, the repeating unit centered on the third pixel structure 100 of the second row.
  • the two spaced repeating units share the two first pixel sensing units 10b in the two adjacent pixel structures 100, that is, the first pixel structures 100 in the first three rows of pixel structures 100.
  • the first and third repeating units share the first pixel sensing unit 10b in the two pixel structures 100 on the right side of the first repeating unit. These two first pixel sensing units 10b are also the third repeating unit.
  • the first pixel sensing units 10b in the two pixel structures 100 on the left are the first pixel sensing units 10b in the first pixel structure 100 in the third column and the third column in the pixel sensing array.
  • the first repeating unit in the pixel structure 100 in the first three rows obtains a differential signal according to the first pixel sensing unit 10a and the two first pixel sensing units 10b on the right, the first repeating unit in the pixel structure 100 in the first three rows
  • the three repeating units can also obtain differential signals according to the two first pixel sensing units 10b and their own first pixel sensing units 10a, so as to obtain the light intensity variation of the optical signal representing the first wavelength band in the corresponding pixel area electrical signal.
  • the two repeating units that are spaced apart refer to the first and third repeating units in the first three columns (three columns from the left) of the pixel structure 100, wherein, The first repeating unit refers to the repeating unit centered on the second pixel structure 100 of the second row, the third repeating unit refers to the repeating unit centered on the second pixel structure 100 of the fourth row, the first There is one repeating unit between the first and the third repeating unit, that is, the repeating unit centered on the second pixel structure 100 of the third row.
  • the two spaced repeating units share the two first pixel sensing units 10b in the two adjacent pixel structures 100, that is, the first pixel structures 100 in the first three columns of pixel structures 100.
  • the first and third repeating units share the first pixel sensing unit 10b in the two pixel structures 100 below the first repeating unit.
  • These two first pixel sensing units 10b are also the third repeating unit.
  • the first pixel sensing units 10b in the upper two pixel structures 100 are the first pixel sensing units 10b in the first pixel structure 100 in the third row and the third row of the pixel sensing array.
  • the third pixel structure 100 in the first three-column pixel structure 100 When the first repeating unit in the first three-column pixel structure 100 acquires a differential signal according to the first pixel sensing unit 10a and the two lower first pixel sensing units 10b, the third pixel structure 100 in the first three-column Each repeating unit can also obtain differential signals according to the two first pixel sensing units 10b and its own first pixel sensing unit 10a, so as to obtain the variation of the light intensity of the light signal representing the first wavelength band in the corresponding pixel area. electric signal.
  • the advantage of this setting is that it is not only possible to simulate the excitatory rod cells and inhibitory rod cells of the human eye through the repeating unit to obtain an electrical signal representing the light intensity change of the light in the pixel area, so as to improve the visual sensor's ability to respond to dynamic targets. Perception ability, increase the dynamic range of the image collected by the vision sensor, improve the shooting speed of the vision sensor, and also help to improve the pixel fill factor of the pixel sensor array.
  • the sensing control unit 30 is also used for the electrical signal representing the light intensity variation of the light signal of the first wavelength band, and the light representing the second wavelength band converted by the second pixel sensing unit 20 in the repeating unit.
  • An electrical signal of color and light intensity information to generate an image signal.
  • the sensing control unit 30 can also convert the light of the second wavelength band into an electrical signal representing its color light intensity information through the sub-pixel sensing unit 210 in the second pixel sensing unit 20, so as to simulate the acquisition of cone cells. Color light intensity information.
  • the sensing control unit 30 may, according to the numerical value corresponding to the electrical signal converted by the first pixel sensing unit 10a in each repeating unit, correspond to the numerical value corresponding to the electrical signal converted by the four first pixel sensing units 10b The average value is subtracted to obtain a differential signal, thereby generating an electrical signal representing the light intensity variation of the optical signal in the first wavelength band, and through each sub-pixel sensing unit 210 surrounding the first pixel sensing unit 10a in the repeating unit.
  • the light in the second band is converted into electrical signals representing its color light intensity information, so as to obtain high-quality color light intensity signals and high-speed light intensity variation signals simultaneously through the repeating unit, and through the sensing control unit according to each repeating unit.
  • the acquired color light intensity signal and light intensity variation signal obtain the image signal of the corresponding pixel area, thereby enriching the visual information of the image acquired by the vision sensor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Solid State Image Pick-Up Elements (AREA)

Abstract

Des modes de réalisation de la présente invention concernent un réseau de détection de pixels et un capteur visuel. Le réseau de détection de pixels comprend une structure de pixels. La structure de pixels comprend une première unité de détection de pixels et une seconde unité de détection de pixels. La première unité de détection de pixels est configurée pour recevoir la lumière d'une première bande d'onde, et la seconde unité de détection de pixels est configurée pour recevoir la lumière d'une seconde bande d'onde. La seconde unité de détection de pixels comprend une pluralité d'unités de détection de sous-pixels, et les au moins deux unités de détection de sous-pixels sont disposées adjacentes à la première unité de détection de pixels. Selon la solution technique des modes de réalisation de la présente invention, différents types d'informations d'image peuvent être acquis au moyen d'un capteur visuel comprenant un réseau de détection de pixels, de façon à améliorer les performances du capteur visuel, élargir le scénario d'application du capteur visuel, et faciliter en outre l'amélioration de l'intégration de pixels du réseau de détection de pixels, ce qui permet d'améliorer la qualité d'image acquise par le capteur de vision.
PCT/CN2022/080681 2021-03-23 2022-03-14 Réseau de détection de pixels et capteur visuel WO2022199413A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202110310312.2A CN113037980A (zh) 2021-03-23 2021-03-23 像素传感阵列和视觉传感器
CN202110310300.X 2021-03-23
CN202110310312.2 2021-03-23
CN202110310300.XA CN113038046B (zh) 2021-03-23 2021-03-23 像素传感阵列和视觉传感器

Publications (1)

Publication Number Publication Date
WO2022199413A1 true WO2022199413A1 (fr) 2022-09-29

Family

ID=83396090

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/080681 WO2022199413A1 (fr) 2021-03-23 2022-03-14 Réseau de détection de pixels et capteur visuel

Country Status (1)

Country Link
WO (1) WO2022199413A1 (fr)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060192086A1 (en) * 2005-02-14 2006-08-31 Ecole Polytechnique Federale De Lausanne Epfl Integrated imager circuit comprising a monolithic array of single photon avalanche diodes
CN1992821A (zh) * 2005-12-30 2007-07-04 国际商业机器公司 成像传感器和包含该成像传感器的数字摄像机
US20110101205A1 (en) * 2009-10-30 2011-05-05 Invisage Technologies, Inc. Systems and methods for color binning
US20170237957A1 (en) * 2016-02-15 2017-08-17 Samsung Electronics Co., Ltd. Image sensor and method of generating restoration image
CN110574367A (zh) * 2019-07-31 2019-12-13 华为技术有限公司 一种图像传感器和图像感光的方法
CN111385543A (zh) * 2020-03-13 2020-07-07 Oppo广东移动通信有限公司 图像传感器、摄像头组件、移动终端及图像获取方法
CN211296854U (zh) * 2019-12-24 2020-08-18 清华大学 像素阵列及仿生视觉传感器
CN112532898A (zh) * 2020-12-03 2021-03-19 北京灵汐科技有限公司 双模态红外仿生视觉传感器
CN112543271A (zh) * 2020-12-03 2021-03-23 清华大学 双模态紫外仿生视觉传感器
CN113038046A (zh) * 2021-03-23 2021-06-25 北京灵汐科技有限公司 像素传感阵列和视觉传感器
CN113037980A (zh) * 2021-03-23 2021-06-25 北京灵汐科技有限公司 像素传感阵列和视觉传感器

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060192086A1 (en) * 2005-02-14 2006-08-31 Ecole Polytechnique Federale De Lausanne Epfl Integrated imager circuit comprising a monolithic array of single photon avalanche diodes
CN1992821A (zh) * 2005-12-30 2007-07-04 国际商业机器公司 成像传感器和包含该成像传感器的数字摄像机
US20110101205A1 (en) * 2009-10-30 2011-05-05 Invisage Technologies, Inc. Systems and methods for color binning
US20170237957A1 (en) * 2016-02-15 2017-08-17 Samsung Electronics Co., Ltd. Image sensor and method of generating restoration image
CN110574367A (zh) * 2019-07-31 2019-12-13 华为技术有限公司 一种图像传感器和图像感光的方法
CN211296854U (zh) * 2019-12-24 2020-08-18 清华大学 像素阵列及仿生视觉传感器
CN111385543A (zh) * 2020-03-13 2020-07-07 Oppo广东移动通信有限公司 图像传感器、摄像头组件、移动终端及图像获取方法
CN112532898A (zh) * 2020-12-03 2021-03-19 北京灵汐科技有限公司 双模态红外仿生视觉传感器
CN112543271A (zh) * 2020-12-03 2021-03-23 清华大学 双模态紫外仿生视觉传感器
CN113038046A (zh) * 2021-03-23 2021-06-25 北京灵汐科技有限公司 像素传感阵列和视觉传感器
CN113037980A (zh) * 2021-03-23 2021-06-25 北京灵汐科技有限公司 像素传感阵列和视觉传感器

Similar Documents

Publication Publication Date Title
CN106840398B (zh) 一种多光谱光场成像方法
CN113038046B (zh) 像素传感阵列和视觉传感器
US9497370B2 (en) Array camera architecture implementing quantum dot color filters
CN206759600U (zh) 成像***
US9793306B2 (en) Imaging systems with stacked photodiodes and chroma-luma de-noising
CN113037980A (zh) 像素传感阵列和视觉传感器
CN112532898B (zh) 双模态红外仿生视觉传感器
GB2488519A (en) Multi-channel image sensor incorporating lenslet array and overlapping fields of view.
JP2013546249A5 (fr)
KR20080038399A (ko) 적응형 고체 이미지 센서
KR20160065464A (ko) 컬러 필터 어레이, 이를 포함하는 이미지 센서 및 이를 이용한 적외선 정보 획득 방법
JP6182396B2 (ja) 撮像装置
US9188480B2 (en) Color filter array and image sensor
SG191370A1 (en) Method and apparatus for multi-spectral imaging
TW201517257A (zh) 在多透鏡陣列模組中之緊密間隔
CN109163809B (zh) 多孔径视场部分重叠的双波段热成像方法与装置
WO2022057507A1 (fr) Capteur d'image, terminal, procédé et appareil de traitement de données, et support d'enregistrement
US10580807B2 (en) Color pixel and range pixel combination unit
US20180286906A1 (en) Image generation device and imaging device
WO2022199413A1 (fr) Réseau de détection de pixels et capteur visuel
JP5108013B2 (ja) カラー撮像素子及びこれを用いた撮像装置及びフィルタ
CN110221403B (zh) 一种大视场多波段立体视觉辅助驾驶仪
CN112543271B (zh) 双模态紫外仿生视觉传感器
WO2022057506A1 (fr) Capteur d'image, terminal, procédé et appareil de traitement de données, et support d'enregistrement
CN112584016B (zh) 红外仿生视觉传感器

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22774075

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 14/02/2024)