Enhanced dynamic vision sensor and detection method

Abstract

This invention provides an enhanced dynamic vision sensor and detection method, relating to the field of image processing technology. It includes an image brightness enhancement module and a dynamic vision sensing module. The image brightness enhancement module includes a photosensor and an energy enhancer, while the dynamic vision sensing module includes a differential circuit, a comparator, and a filter. This invention receives light signals in real time through the photosensor and converts them into image electrical signals. The energy enhancer amplifies the image electrical signals to obtain a first visual electrical signal, thus amplifying the signal. The differential circuit performs differential operations on the first visual electrical signals at different times and inputs the result to the comparator. The comparator compares the result with a preset threshold and determines whether to output a preliminary light intensity change event based on the comparison result. The filter performs noise filtering on the preliminary light intensity change event to obtain an enhanced light intensity change event, enabling light signal detection in different scenarios and effectively improving imaging quality.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to an enhanced dynamic vision sensor and detection method. Background Technology

[0002] With the continuous development of machine vision, the demand for high dynamic range scene imaging is also increasing.

[0003] Dynamic vision sensors in the field of biomimetic vision are characterized by high temporal resolution and high dynamic range. Due to the asynchronous output of each pixel, there is no concept of frame rate, and their response time can reach the microsecond level. Furthermore, they can detect logarithmic changes in light intensity, with a dynamic range of up to 140 dB. Therefore, dynamic vision sensors are often used for high dynamic range scene imaging.

[0004] However, in actual use, light signals are easily affected by a variety of factors, such as scene illumination, shooting angle, and the movement of the target object. In such cases, dynamic vision sensors have difficulty detecting light signals, which in turn affects the image quality. Summary of the Invention

[0005] This invention provides an enhanced dynamic vision sensor and detection method to address the shortcomings of existing technologies where dynamic vision sensors struggle to detect light signals and guarantee image quality in certain scenarios.

[0006] This invention provides an enhanced dynamic vision sensor, comprising: an image brightness enhancement module, including a first light sensor and an energy enhancer; the first light sensor is used to receive light signals from a target image in real time and convert the light signals into a first image electrical signal; the energy enhancer is used to amplify the energy of the first image electrical signal to obtain a first visual electrical signal; a dynamic vision sensing module, including a differential circuit, a comparator, and a first filter; the differential circuit is used to perform differential operations on the first visual electrical signals at different times and input the differential operation result to the comparator; the comparator is used to compare the differential operation result with a preset threshold and determine whether to output a preliminary light intensity change event based on the comparison result; the first filter is used to filter noise from the preliminary light intensity change event to obtain an enhanced light intensity change event.

[0007] According to the present invention, an enhanced dynamic vision sensor is provided, wherein the image brightness enhancement module further includes an electro-optic converter, and the dynamic vision sensing module further includes a second photosensor; the electro-optic converter is used to convert a first visual electrical signal into an enhanced light signal of the target image; and the second photosensor is used to receive the enhanced light signal and convert the enhanced light signal back into the first visual electrical signal.

[0008] According to the present invention, an enhanced dynamic vision sensor is provided, wherein the first photosensor is a photocathode and the energy enhancer is a microchannel plate; the photocathode is used to receive the light signal of the target image and generate a first image electrical signal corresponding to the light signal of the target image based on the photoelectric effect; the microchannel plate includes multiple microchannels, and the microchannel plate is used to cause electrons in the first image electrical signal to collide with the inner wall of the microchannel under the action of an electrostatic field, so as to excite multiple secondary electrons; the secondary electrons are accelerated by the electrostatic field and then collide with the inner wall of the next microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal to obtain a first visual electrical signal.

[0009] According to the present invention, an enhanced dynamic vision sensor is provided, wherein the electro-optic converter is a fluorescent screen, and the fluorescent screen is directly attached to a second photosensor; the fluorescent screen is used to receive electrons from the first visual electrical signal emitted by the energy enhancer, convert the kinetic energy of the electrons into light energy, and display the target image corresponding to the enhanced light signal on the fluorescent screen.

[0010] According to an enhanced dynamic vision sensor provided by the present invention, the dynamic vision sensing module further includes a second filter; the second filter is used to filter the first visual electrical signal and input the filtered first visual electrical signal to the differential circuit.

[0011] According to the present invention, an enhanced dynamic vision sensor is provided, wherein the enhanced light intensity change event includes event polarity, timestamp, and pixel plane coordinates of the light intensity change.

[0012] According to the present invention, an enhanced dynamic vision sensor is provided in which the electro-optic converter of the image brightness enhancement module and the second photosensitive sensor of the dynamic vision sensing module are directly coupled.

[0013] The present invention also provides a dynamic visual detection method, comprising: receiving light signals of a target image in real time and converting the light signals into a first image electrical signal; amplifying the energy of the first image electrical signal to obtain a first visual electrical signal; performing a differential operation on the first visual electrical signals at different times to obtain a differential operation result; comparing the differential operation result with a preset threshold and determining whether to output a preliminary light intensity change event based on the comparison result; and performing noise filtering on the preliminary light intensity change event to obtain an enhanced light intensity change event.

[0014] According to a dynamic visual detection method provided by the present invention, amplification of the energy of a first image electrical signal is performed to obtain a first visual electrical signal, comprising: receiving an optical signal of a target image; generating a first image electrical signal corresponding to the optical signal of the target image based on the photoelectric effect; causing electrons in the first image electrical signal to collide with the inner wall of a microchannel plate under the action of an electrostatic field to excite multiple secondary electrons; the secondary electrons are accelerated by the electrostatic field and then collide with the inner wall of the next microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal to obtain the first visual electrical signal.

[0015] According to a dynamic visual detection method provided by the present invention, the difference operation result is compared with a preset threshold, and the method determines whether to output a preliminary light intensity change event based on the comparison result, including: outputting a preliminary light intensity change event when the difference operation result is greater than the preset threshold.

[0016] The enhanced dynamic vision sensor and detection method provided by this invention include an image brightness enhancement module and a dynamic vision sensing module. The image brightness enhancement module includes a light sensor and an energy enhancer. The dynamic vision sensing module includes a differential circuit, a comparator, and a filter. The light sensor receives the light signal of the target image in real time and converts the light signal into an image electrical signal. The energy enhancer amplifies the image electrical signal to obtain a first visual electrical signal, thus amplifying the signal. The differential circuit performs differential operations on the first visual electrical signal at different times and inputs the differential operation result to the comparator, so that the comparator can compare the differential operation result with a preset threshold and determine whether to output a preliminary light intensity change event based on the comparison result. Then, the filter performs noise filtering on the preliminary light intensity change event to obtain an enhanced light intensity change event, realizing the detection of light signals in different scenes and effectively improving the imaging quality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is one of the structural schematic diagrams of the enhanced dynamic vision sensor provided by the present invention;

[0019] Figure 2 This is the second schematic diagram of the structure of the enhanced dynamic vision sensor provided by the present invention;

[0020] Figure 3 This is a schematic diagram of the photoelectric conversion of the image brightness enhancement module of the present invention;

[0021] Figure 4 This is a schematic diagram of the event triggering principle of the dynamic visual sensing module of the present invention;

[0022] Figure 5 This is a schematic diagram of the data structure for light intensity change events;

[0023] Figure 6 This is a schematic diagram of direct coupling technology;

[0024] Figure 7 This is a flowchart illustrating the dynamic visual detection method of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] Dynamic vision sensors are often used for high dynamic range scene imaging, but for some scenarios, dynamic vision sensors have difficulty detecting light signals, which affects the image quality.

[0027] Based on this, the present invention provides an enhanced dynamic vision sensor and detection method, which can realize the detection of light signals in different scenarios and effectively improve the imaging quality.

[0028] Please see Figure 1 , Figure 1 This is one of the structural schematic diagrams of the enhanced dynamic vision sensor provided by the present invention.

[0029] The enhanced dynamic vision sensor includes an image brightness enhancement module 110 and a dynamic vision sensing module 120.

[0030] The image brightness enhancement module 110 includes a first light sensor 111 and an energy enhancer 112. The first light sensor 111 is used to receive the light signal of the target image in real time and convert the light signal into a first image electrical signal. The energy enhancer 112 is used to amplify the energy of the first image electrical signal to obtain a first visual electrical signal.

[0031] The dynamic visual sensing module 120 includes a differential circuit 121, a comparator 122, and a first filter 123. The differential circuit 121 is used to perform differential operations on the first visual electrical signals at different times and input the differential operation result to the comparator 122. The comparator 122 is used to compare the differential operation result with a preset threshold and determine whether to output a preliminary light intensity change event based on the comparison result. The first filter 123 is used to filter noise from the preliminary light intensity change event to obtain an enhanced light intensity change event.

[0032] In this embodiment, the image brightness enhancement module 110 and the dynamic visual sensing module 120 can transmit signals based on electrical signals.

[0033] In some scenarios, traditional dynamic vision sensors are unable to detect light signals, so the signal needs to be amplified by the image brightness enhancement module 110.

[0034] Specifically, the image brightness enhancement module 110 may include a first light sensor 111 and an energy enhancer 112.

[0035] The first photosensitive sensor 111 can receive the light signal of the target image in real time, and based on the photoelectric effect, convert the light signal of the target image into a first image electrical signal corresponding to the light signal of the target image.

[0036] Furthermore, the energy enhancer 112 can receive the first image electrical signal generated by the first photosensor 111 and amplify the energy of the first image electrical signal to obtain the first visual electrical signal.

[0037] After the image brightness enhancement module 110 amplifies the signal, the dynamic visual sensing module 120 determines whether to output a light intensity change event and obtains asynchronous event stream information based on the output light intensity change event.

[0038] Specifically, the dynamic vision sensing module 120 includes a differential circuit 121, a comparator 122, and a first filter 123.

[0039] Furthermore, the differential circuit 121 is used to perform differential operations on the first visual electrical signals at different times and input the differential operation result to the comparator 122.

[0040] It's important to note that, unlike traditional frame-rate-based imaging devices, dynamic vision sensors use asynchronous output and therefore do not have the concept of "frames." In a dynamic vision sensor, the output of each pixel is independent, called a "timestamp." "Before and after timestamps" can be any two adjacent moments, such as two consecutive time segments, adjacent pixels, or other custom time points. In a differential circuit, the electrical signal of "before and after timestamps" refers to the electrical signal of two adjacent timestamps. By differentiating the signals of these two timestamps, the change between the electrical signals of the two adjacent timestamps can be obtained, and this change can be used as the result of the differential operation.

[0041] Furthermore, the comparator 122 is used to compare the result of the differential operation with a preset threshold, and determine whether to output the preliminary light intensity change event based on the comparison result; the first filter 123 is used to filter noise from the preliminary light intensity change event to obtain the enhanced light intensity change event, and asynchronous event stream information can be obtained based on the enhanced light intensity change event.

[0042] Because the background noise of the information collected in some scenarios is high, and the energy amplifier 112 amplifies the background noise while enhancing the signal, the signal-to-noise ratio of the collected signal is low, which triggers a large number of irrelevant noise events. Therefore, a first filter 123 can be added to the dynamic visual sensing module 120. The first filter 123 can effectively reduce irrelevant background noise and improve the signal-to-noise ratio of the event stream.

[0043] Specifically, the first filter 123 can receive the initial light intensity change event with low signal-to-noise ratio generated by the comparator 122 and filter the event noise to obtain the enhanced light intensity change event with high signal-to-noise ratio. The enhanced light intensity change event contains more effective information and is more conducive to the application of actual task scenarios.

[0044] The enhanced dynamic vision sensor and detection method provided by this invention include an image brightness enhancement module and a dynamic vision sensing module. The image brightness enhancement module includes a light sensor and an energy enhancer. The dynamic vision sensing module includes a differential circuit, a comparator, and a filter. The light sensor receives the light signal of the target image in real time and converts the light signal into an image electrical signal. The energy enhancer amplifies the image electrical signal to obtain a first visual electrical signal, thus amplifying the signal. The differential circuit performs differential operations on the first visual electrical signal at different times and inputs the differential operation result to the comparator, so that the comparator can compare the differential operation result with a preset threshold and determine whether to output a preliminary light intensity change event based on the comparison result. Then, the filter performs noise filtering on the preliminary light intensity change event to obtain an enhanced light intensity change event, realizing the detection of light signals in different scenes and effectively improving the imaging quality.

[0045] Please see Figure 2 , Figure 2 This is the second schematic diagram of the structure of the enhanced dynamic vision sensor provided by the present invention.

[0046] In some embodiments, the image brightness enhancement module 210 further includes an electro-optic converter 213, and the dynamic visual sensing module 220 further includes a second light sensor 221; the electro-optic converter 213 is used to convert the first visual electrical signal into an enhanced light signal of the target image; the second light sensor 221 is used to receive the enhanced light signal and convert the enhanced light signal into the first visual electrical signal.

[0047] In this embodiment, the image brightness enhancement module 210 and the dynamic visual sensing module 220 can transmit signals based on optical signals.

[0048] Specifically, the image brightness enhancement module 210 may include a first light sensor 211, an energy enhancer 212, and an electro-optic converter 213. The first light sensor 211 can receive the light signal of the target image in real time and, based on the photoelectric effect, convert the light signal of the target image into a first image electrical signal corresponding to the target image light signal. The energy enhancer 212 can receive the first image electrical signal generated by the first light sensor and amplify the energy of the first image electrical signal to obtain a first visual electrical signal.

[0049] The electro-optic converter 213 can receive the first visual electrical signal generated by the energy enhancer 212 and convert the first visual electrical signal into an enhanced light signal of the target image.

[0050] The dynamic vision sensing module 220 includes a second light sensor 221, a differential circuit 222, a comparator 223, and a first filter 224.

[0051] Specifically, the second photosensor 221 can receive the enhanced light signal of the target image generated by the electro-optic converter 213 and convert the enhanced light signal into a first visual electrical signal. The differential circuit 222 can receive the first visual electrical signal generated by the second photosensor 221, perform a differential operation on the first visual electrical signals at different times, and input the differential operation result to the comparator 223. The comparator 223 can compare the differential operation result with a preset threshold and determine whether to output a preliminary light intensity change event based on the comparison result. The first filter 224 can receive the preliminary light intensity change event generated by the comparator 223 and perform noise filtering to obtain an enhanced light intensity change event.

[0052] In some embodiments, the first photosensor is a photocathode, and the energy enhancer is a microchannel plate. The photocathode is used to receive the light signal of the target image and generate a first image electrical signal corresponding to the light signal of the target image based on the photoelectric effect. The microchannel plate includes multiple microchannels. The microchannel plate is used to cause electrons in the first image electrical signal to collide with the inner wall of the microchannel under the action of an electrostatic field, so as to excite multiple secondary electrons. The secondary electrons are accelerated by the electrostatic field and then collide with the inner wall of the next microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal and obtaining the first visual electrical signal.

[0053] The first photosensor can be a photocathode, which can realize photoelectric conversion.

[0054] Specifically, the photocathode can receive the light signal of the target image in real time and generate the first image electrical signal corresponding to the light signal of the target image based on the photoelectric effect.

[0055] It should be noted that the photocathode can be made of photosensitive material. Under weak light irradiation, it can concentrate weak or invisible light onto the photosensitive surface to produce photoelectric effect and generate photoelectrons, thereby converting the low-energy radiation image of the received target image into an electronic image. This completes the process of converting the optical signal of the target image into the first image electrical signal corresponding to the target image optical signal, that is, completing the conversion from photons to electrons.

[0056] The energy enhancer can be a microchannel plate, which can include multiple microchannels.

[0057] Specifically, the microchannel plate can receive the first image electrical signal generated by the photocathode, and under the action of the electrostatic field, the electrons in the first image electrical signal will collide with the inner wall of the microchannel to excite multiple secondary electrons; the secondary electrons are accelerated by the electrostatic field and collide with the inner wall of the next microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal and obtaining the first visual electrical signal.

[0058] It should be noted that the microchannel plate is composed of millions of closely packed microchannels, and the inner walls of the microchannels are equipped with two-dimensional electron multiplier elements composed of hollow channels with high secondary emission characteristics. These two-dimensional electron multiplier elements utilize the secondary electron emission characteristics to multiply the number of electrons colliding at high speed on the inner walls of the microchannels, achieving an electron current boost of over ten thousand times. The microchannel plate operates in a vacuum environment, and its working principle is based on the generation of secondary electrons on the inner walls of the microchannels, which are coated with a secondary electron emission material. Applying a DC high voltage to both ends of the microchannel plate creates an electrostatic field on the inner walls of the microchannels. Using the lower potential side as the electron input and the higher potential side as the electron output, electrons can be accelerated along the microchannels under the influence of the potential, gaining higher energy. When electrons or other particles collide with the inner wall of a microchannel at a low potential input end with a certain energy, secondary electrons can be generated. Under the influence of the field strength, the secondary electrons can continue to accelerate along the microchannel and continue to collide with the inner wall of the microchannel to generate more electrons. Finally, a large number of electrons are emitted at the high potential output end of the microchannel plate. This process is also known as "electron avalanche".

[0059] The electron avalanche effect occurring within the microchannel plate can amplify the received first image electrical signal, resulting in the first visual electrical signal.

[0060] In some embodiments, the electro-optic converter is a fluorescent screen, which is directly attached to the second photosensor; the fluorescent screen is used to receive electrons from the first visual electrical signal emitted by the energy enhancer, convert the kinetic energy of the electrons into light energy, and display the target image corresponding to the enhanced light signal on the fluorescent screen.

[0061] Specifically, the electro-optic converter is a fluorescent screen, which is directly attached to the second photosensor. The fluorescent screen may contain luminescent materials that can convert the kinetic energy of electrons into light energy. The fluorescent screen can receive electrons from the first visual electrical signal emitted by the energy enhancer. After the electrons bombard the surface of the fluorescent screen, a target image corresponding to the enhanced light signal can be displayed, realizing the conversion from electrons to photons, and ultimately transforming the originally weak or invisible light signal into a stronger visible light signal.

[0062] Please see Figure 3 , Figure 3 This is a schematic diagram of the photoelectric conversion of the image brightness enhancement module of the present invention.

[0063] In this embodiment, the image brightness enhancement module includes a photocathode 310, a microchannel plate 320, and a fluorescent screen 330.

[0064] The photocathode 310 can receive the light signal of the target image and convert the weak photons in the light signal into weak electrons based on the photoelectric effect. The microchannel plate 320 receives the weak electrons generated by the photocathode and generates multiplied electrons through an electron avalanche effect under the action of an electrostatic field. The fluorescent screen 330 receives the multiplied electrons generated by the microchannel plate, converts the kinetic energy of the multiplied electrons into light energy, generates multiplied photons, and displays the target image corresponding to the multiplied photons on the fluorescent screen.

[0065] In some embodiments, the dynamic visual sensing module further includes a second filter; the second filter is used to filter the first visual electrical signal and input the filtered first visual electrical signal to the differential circuit. The light intensity change event includes event polarity and a timestamp.

[0066] Optionally, the second filter can be used to filter the first visual electrical signal generated by the image brightness enhancement module, and input the filtered first visual electrical signal to the differential circuit.

[0067] It should be noted that the first visual electrical signal generated by the energy enhancer can be an analog signal, while the initial light intensity change event output by the comparator can be a digital signal.

[0068] In this embodiment, the first filter can be a digital filter, used to process the discrete digital signal generated by the comparator to change the signal spectrum and achieve the purpose of noise filtering; the second filter can be an analog filter, used to filter the first visual electrical signal to reduce background noise and improve the signal-to-noise ratio.

[0069] Furthermore, light intensity change events can include event polarity and timestamps.

[0070] Event polarity indicates the polarity of an event, i.e., the type of event. For example, a positive event polarity indicates that the brightness of the pixel increases, while a negative event polarity indicates that the brightness of the pixel decreases.

[0071] Optionally, "1" can be used to represent a positive event polarity, and "0" can be used to represent a negative event polarity.

[0072] A timestamp indicates when an event occurred, usually in microseconds.

[0073] Please see Figure 4 , Figure 4 This is a schematic diagram illustrating the event triggering principle of the dynamic visual sensing module of the present invention.

[0074] For example, the image brightness enhancement module receives the light signal of the target image in real time and detects that the logarithm of the light intensity of a certain pixel in the target image changes between two adjacent moments, that is, the light signal changes. This causes the electrical signal received by the differential circuit in the dynamic vision sensing module to change. The differential circuit can perform differential operation on the electrical signal of the pixel between two adjacent moments to obtain the differential operation result, and input the differential operation result to the comparator. The comparator compares the differential operation result with a preset threshold.

[0075] If the logarithm of the light intensity at the current moment is higher than the logarithm of the light intensity at the previous moment, it indicates that the event polarity is positive; if the logarithm of the light intensity at the current moment is lower than the logarithm of the light intensity at the previous moment, it indicates that the event polarity is negative.

[0076] Because the change in the logarithm of light intensity will cause a change in the electrical signal received by the differential circuit in the dynamic vision sensing module, the differential circuit can perform differential operation on the electrical signals of two adjacent moments of the pixel to obtain the amount of change between the electrical signals of the pixel at two adjacent moments.

[0077] If the logarithm of the light intensity of a pixel at the current moment is higher than the logarithm of the light intensity at the previous moment, and the change is greater than a preset threshold, then the event polarity of the pixel at the current moment is positive, and is represented by "1". If the logarithm of the light intensity of a pixel at the current moment is lower than the logarithm of the light intensity at the previous moment, and the change is greater than a preset threshold, then the event polarity of the pixel at the current moment is negative, and is represented by "0". In this case, the comparator can output the event polarity and timestamp of the pixel.

[0078] In some embodiments, the enhanced light intensity change event includes event polarity, timestamp, and pixel plane coordinates of the light intensity change.

[0079] Specifically, in order to more intuitively display the relevant information of the target image, the enhanced light intensity change event also includes the pixel plane coordinates of the light intensity change, and uses the pixel plane coordinates to mark the specific location information of each pixel in the target image.

[0080] Please see Figure 5 , Figure 5 This is a schematic diagram of the data structure for light intensity change events.

[0081] Specifically, a Cartesian coordinate system can be established with a pixel in the target image as the origin, the horizontal direction of the origin as the X-axis, and the vertical direction as the Y-axis, to mark the planar coordinates of each pixel.

[0082] It should be noted that traditional imaging devices are frame rate based, and their output images are synchronous, low temporal resolution integrated signals over a period of time. Unlike traditional frame rate-based imaging devices, dynamic vision sensors output asynchronous event stream information as high temporal resolution pulse signals.

[0083] Dynamic vision sensors can improve the dynamic range and temporal resolution of a system, reduce system latency and power consumption, and alleviate problems such as low frame rate, motion blur, and data redundancy in existing imaging devices.

[0084] In some embodiments, the electro-optic converter of the image brightness enhancement module and the second photosensor of the dynamic vision sensing module are directly coupled.

[0085] It should be noted that direct coupling can include two steps: polishing and removing the protective window.

[0086] Since the contact surfaces of the electro-optic converter of the image brightness enhancement module and the second photosensitive sensor of the dynamic vision sensing module may be mismatched in size, it is necessary to polish the output surface (i.e., the output window) of the electro-optic converter of the image brightness enhancement module so that the size of the output surface of the electro-optic converter can match the size of the contact surface of the second photosensitive sensor of the dynamic vision sensing module, thereby allowing the electro-optic converter and the second photosensitive sensor to fit tightly together.

[0087] A protective window can be installed on the second photosensor of the dynamic vision sensing module. When the device is idle, the protective window can protect the dynamic vision sensing module from the influence of the external environment. When using the device, the protective window needs to be removed to prevent the light signal output by the electro-optic converter of the image brightness enhancement module from reflecting back and forth between the protective window and the second photosensor, affecting the imaging.

[0088] Please see Figure 6 , Figure 6 This is a schematic diagram of direct coupling technology.

[0089] It should be noted that the image brightness enhancement module may include a first photosensor, an energy enhancer, and an electro-optic converter. In this embodiment, the function of the image brightness enhancement module may also be implemented by an image intensifier.

[0090] Please see Figure 7 , Figure 7 This is a flowchart illustrating the dynamic visual detection method of the present invention.

[0091] The present invention also provides a dynamic visual detection method, which specifically includes steps 710 to 750, the details of which are as follows:

[0092] Step 710: Receive the light signal of the target image in real time and convert the light signal into the first image electrical signal.

[0093] Step 720: Amplify the energy of the first image electrical signal to obtain the first visual electrical signal.

[0094] Step 730: Perform differential operation on the first visual electrical signals at the previous and next time points to obtain the differential operation result.

[0095] Step 740: Compare the difference operation result with the preset threshold, and determine whether to output the preliminary light intensity change event based on the comparison result.

[0096] Step 750: Perform noise filtering on the initial light intensity change events to obtain enhanced light intensity change events.

[0097] In some embodiments, the energy of the first image electrical signal is amplified to obtain a first visual electrical signal, including: receiving the light signal of the target image, generating a first image electrical signal corresponding to the light signal of the target image based on the photoelectric effect; causing electrons in the first image electrical signal to collide with the inner wall of the microchannel plate under the action of an electrostatic field to excite multiple secondary electrons; the secondary electrons are accelerated by the electrostatic field and then collide with the next inner wall of the microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal to obtain the first visual electrical signal.

[0098] In some embodiments, the difference operation result is compared with a preset threshold, and a preliminary light intensity change event is determined based on the comparison result, including: if the difference operation result is greater than the preset threshold, the preliminary light intensity change event is output.

[0099] In some embodiments, the enhanced light intensity change event also includes the pixel plane coordinates of the light intensity change.

[0100] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0101] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An enhanced dynamic vision sensor, characterized in that, include: An image brightness enhancement module includes a first light sensor and an energy enhancer. The first light sensor is used to receive light signals from a target image in real time and convert the light signals into a first image electrical signal. The energy enhancer is used to amplify the energy of the first image electrical signal to obtain a first visual electrical signal. The dynamic vision sensing module includes a differential circuit, a comparator, and a first filter; The differential circuit is used to perform differential operations on the first visual electrical signals at different times, and input the differential operation result to the comparator; the comparator is used to compare the differential operation result with a preset threshold, and determine whether to output a preliminary light intensity change event based on the comparison result; The first filter is used to filter noise from the initial light intensity change event to obtain an enhanced light intensity change event; The first photosensor is a photocathode, and the energy enhancer is a microchannel plate; The photocathode is used to receive the light signal of the target image and generate a first image electrical signal corresponding to the light signal of the target image based on the photoelectric effect. The microchannel plate includes multiple microchannels. The microchannel plate is used to cause electrons in the first image electrical signal to collide with the inner wall of the microchannel under the action of an electrostatic field, thereby exciting multiple secondary electrons. The secondary electrons are accelerated by the electrostatic field and then collide with the inner wall of the next microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal and obtaining the first visual electrical signal.

2. The enhanced dynamic vision sensor according to claim 1, characterized in that, The image brightness enhancement module further includes an electro-optic converter, and the dynamic visual sensing module further includes a second photosensor. The electro-optic converter is used to convert the first visual electrical signal into an enhanced light signal of the target image; The second photosensor is used to receive the enhanced light signal and convert the enhanced light signal into the first visual electrical signal.

3. The enhanced dynamic vision sensor according to claim 2, characterized in that, The electro-optic converter is a fluorescent screen, and the fluorescent screen is directly attached to the second photosensor. The fluorescent screen is used to receive electrons from the first visual electrical signal emitted by the energy enhancer, convert the kinetic energy of the electrons into light energy, and display the target image corresponding to the enhanced light signal on the fluorescent screen.

4. The enhanced dynamic vision sensor according to claim 1, characterized in that, The dynamic vision sensing module also includes a second filter; The second filter is used to filter the first visual electrical signal and input the filtered first visual electrical signal to the differential circuit; The light intensity change event includes event polarity and timestamp.

5. The enhanced dynamic vision sensor according to claim 4, characterized in that, in, The enhanced light intensity change event includes event polarity, timestamp, and pixel plane coordinates of the light intensity change.

6. The enhanced dynamic vision sensor according to claim 2, characterized in that, The electro-optic converter of the image brightness enhancement module and the second photosensor of the dynamic vision sensing module are directly coupled.

7. A dynamic visual detection method, characterized in that, include: The system receives the optical signal of the target image in real time and converts the optical signal into a first image electrical signal. The first image electrical signal is amplified to obtain the first visual electrical signal; Perform a difference operation on the first visual electrical signals at the previous and next time points to obtain the difference operation result; The result of the difference operation is compared with a preset threshold, and a preliminary light intensity change event is determined based on the comparison result. Noise filtering is applied to the initial light intensity change events to obtain enhanced light intensity change events; The step of amplifying the energy of the first image electrical signal to obtain the first visual electrical signal includes: Receive the light signal of the target image, and generate a first image electrical signal corresponding to the light signal of the target image based on the photoelectric effect; Under the action of an electrostatic field, electrons in the first image electrical signal are caused to collide with the inner wall of the microchannel of the microchannel plate to excite multiple secondary electrons; the secondary electrons are accelerated by the electrostatic field and then collide with the inner wall of the next microchannel to generate multiple multiplied secondary electrons, thereby amplifying the energy of the first image electrical signal to obtain the first visual electrical signal.

8. The dynamic visual detection method according to claim 7, characterized in that, The step of comparing the difference operation result with a preset threshold and determining whether to output a preliminary light intensity change event based on the comparison result includes: If the result of the difference operation is greater than the preset threshold, the preliminary light intensity change event is output.

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