Electronic device, dynamic vision sensor and method for outputting pixel information

Abstract

The present application provides a dynamic vision sensor, an electronic device, and a method for outputting pixel information of a dynamic vision sensor, wherein a chip includes a pixel array and a processing circuit, and each pixel row in the pixel array includes at least two pixel groups. In the processing circuit, based on the change in the light intensity value of at least one pixel of the first pixel group, a first signal containing the row position information of the first pixel group in the pixel array is generated, and a second signal containing the column position information of the pixel row where the first pixel group is located is generated. By sending the first signal and the second signal to the pixel output circuit, the pixel output circuit can accurately output the position information of the first pixel group whose light intensity value changes in the pixel array.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a dynamic vision sensor, an electronic device, and a method for outputting pixel information of the dynamic vision sensor. Background Art

[0002] Currently, after the pixel array of a Dynamic Vision Sensor (DVS) receives a light signal for imaging, pixels with a changed light intensity value are defined as activated pixels, and pixels with an unchanged light intensity value are defined as non-activated pixels. For a DVS that outputs pixel information of activated pixels, it generally includes a row arbitration circuit and a column arbitration circuit.

[0003] The method for a frame-based DVS to output activated pixels is that when the clock signal of the row arbitration circuit is synchronized with the clock signal of the column arbitration circuit, the DVS outputs the pixel information of each pixel in the pixel array. However, only the pixel information of the activated pixels in the pixel array of the DVS is valid after being output. Therefore, the amount of output result data of the DVS using the frame-based output method is large, and the output result is inaccurate. Summary of the Invention

[0004] In view of this, this application provides a dynamic vision sensor, an electronic device, and a method for outputting pixel information of the dynamic vision sensor, so as to accurately output the position information of the pixels with a changed light intensity value in the pixel array.

[0005] In a first aspect, this application provides a chip, including: a pixel array and a processing circuit; each pixel row in the pixel array includes at least two pixel groups, and each pixel group contains multiple pixels; the processing circuit is configured to generate a first signal when it detects that the light intensity value of at least one pixel in the first pixel group changes; wherein, the first signal includes the row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; the processing circuit is further configured to generate a second signal; the second signal includes the column position information of the pixel row where the first pixel group is located; and send the first signal and the second signal to a pixel output circuit; the first signal and the second signal are used to cause the pixel output circuit to output the position information of the first pixel group with a changed light intensity value in the pixel array.

[0006] Compared with the prior art, this application can obtain a more accurate output result by outputting the pixels with a changed light intensity value in the form of pixel groups in the pixel array.

[0007] In a possible design, the number of pixel groups included in each pixel row in the pixel array is determined in the following manner: for each preset initial number of groups, based on the number of columns of the pixel array, the bit width of the pixels, and the number of the first pixel groups in the pixel array, the pixel data volume corresponding to the initial number of groups is determined; the initial number of groups corresponding to the minimum pixel data volume among the pixel data volumes is determined as the number of pixel groups included in each pixel row. In this application, the initial number of groups determined by the minimum pixel data volume is used as the number of pixel groups included in each pixel row, which can make the bit width of the pixel groups output by the pixel output circuit more reasonable in the pixel array space and is conducive to restoring the frame format.

[0008] In a possible design, the pixel array includes M * N pixels, where M is the number of rows of the pixel array, N is the number of columns of the pixel array, and both M and N are positive integers. By setting different values for the number of rows and columns of the pixel array, different pixel arrays can be obtained.

[0009] In a possible design, the processing circuit is specifically configured to: when the light intensity value change of the pixels in the first pixel group is greater than a preset threshold, determine that the light intensity value of the pixel has changed, and the preset threshold is any value between 5% of the pixel light intensity value and 30% of the pixel light intensity value. The first signal in the processing circuit indicates that the light intensity value of the first pixel group has changed. By setting the preset threshold, the first signal generated in the processing circuit is made more accurate, and further, the pixels with changed light intensity values can be output more accurately.

[0010] In a possible design, the processing circuit is specifically configured to: send the light intensity value of each pixel in the first pixel group to the pixel output circuit through the first signal or the second signal, so that the pixel output circuit outputs the light intensity value of each pixel in the first pixel group. By combining the position information of the first pixel group in the pixel array and the light intensity value information of each pixel in the first pixel group, the output result is made more accurate.

[0011] In a possible design, the processing circuit is specifically configured to: determine the pixel signal of each pixel in the first pixel group; where the pixel signal of the first pixel in the first pixel group is used to indicate whether the light intensity value of the first pixel has changed, and the first pixel is any pixel in the first pixel group; perform a logical calculation on the pixel signals of each pixel in the first pixel group to obtain the first signal. Through the pixel signals of each pixel in the first pixel group, a more accurate first signal can be obtained, and further, the pixels with changed light intensity values can be output more accurately.

[0012] In a possible design, the processing circuit is specifically configured to: after sending the first signal to the pixel output circuit, receive a response signal of the first signal sent by the pixel output circuit; and based on the response signal of the first signal, send the second signal to the pixel output circuit. By sending the second signal according to the response signal of the first signal, the output rate of the pixel output circuit can be controlled.

[0013] In a possible design, the chip further includes: a row arbitration circuit; the row arbitration circuit is configured to determine a processing order of the first signal and the third signal according to row position information of a first pixel group included in the first signal in a pixel array and row position information of a second pixel group included in a third signal in the pixel array; process the first signal and the third signal according to the processing order; the third signal is used to indicate that an intensity value of the second pixel group changes; and the second pixel group and the first pixel group belong to different pixel rows.

[0014] In a possible design, the row arbitration circuit includes: a sub-arbitrator and a processor; the sub-arbitrator is configured to determine a processing order of the first signal and the third signal according to row position information of the first pixel group included in the first signal in the pixel array and row position information of the second pixel group included in the third signal in the pixel array; and the processor is configured to process the first signal and the third signal according to the processing order.

[0015] In a possible design, the chip further includes: a row arbitration circuit; the row arbitration circuit is configured to receive the first signal and at least one third signal sent by the processing circuit; the third signal is used to indicate that an intensity value of a second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows; respectively generate a response signal of the first signal and a response signal of the third signal; determine a first processing order of sending the response signal of the first signal and the response signal of the third signal to the processing circuit; send the response signal of the first signal and the response signal of the third signal to the processing circuit according to the first processing order, so that the processing circuit sends the second signal to the pixel output circuit; and send a fourth signal to the pixel output circuit; the fourth signal includes column position information of a pixel row where the second pixel group is located.

[0016] In this application, the row arbitration circuit in the chip determines the execution order of the first signal and the third signal, so that the processing circuit sends the second signal and the fourth signal to the pixel output circuit according to the execution order, thereby controlling the output rate of the pixel output circuit.

[0017] In a possible design, the row arbitration circuit includes: a sub - arbiter and a processor; the processor is configured to receive the first signal and the at least one third signal sent by the processing circuit; generate a first request signal according to the first signal; generate a second request signal according to the third signal; the sub - arbiter is configured to determine a second order of precedence of the response signal of the first request signal and the response signal of the second request signal sent to the processor according to the first request signal and the second request signal sent by the processor; send the response signal of the first request signal and the response signal of the second request signal to the processor in accordance with the second order of precedence; the processor is further configured to, after receiving the response signal of the first request signal sent by the sub - arbiter, process the first signal to obtain the response signal of the first signal; and after receiving the response signal of the second request signal sent by the sub - arbiter, process the third signal to obtain the response signal of the third signal.

[0018] In this application, the row arbitration circuit's functions are further divided to obtain a sub - arbiter and a processor. The processor is used to receive the first signal and at least one third signal, and the sub - arbiter is used to determine the execution order of the first signal and the third signal, thereby improving the processing rate of the row arbitration circuit.

[0019] In a possible design, the row arbitration circuit is specifically configured to: determine a first order of precedence of the response signal of the first signal and the response signal of the third signal sent to the processing circuit according to the row position information of the first pixel group included in the first signal in the pixel array and the row position information of the second pixel group included in the third signal in the pixel array. Determining the order of signal execution through the row position information of the pixel group in the pixel array can make the output result of the pixel output circuit have a spatial order in the pixel array.

[0020] In a second aspect, this application also provides a dynamic vision sensor, including: a chip, a pixel output circuit as described in the first aspect and its partial designs above; wherein, the clock signal of the row arbitration circuit is synchronized with the clock signal of the pixel output circuit.

[0021] In a third aspect, the present application also provides a dynamic vision sensor, including: a chip and a pixel output circuit in the first aspect and its partial designs as above; the pixel output circuit includes: a row arbitration circuit and a column selection circuit; wherein, the clock signal of the row arbitration circuit is synchronized with the clock signal of the column selection circuit; the row arbitration circuit is configured to receive the first signal sent by the processing circuit in the chip; determine the row position information of the first pixel group in the pixel array according to the first signal; and send the row position information of the first pixel group in the pixel array to the column selection circuit; the column selection circuit is configured to receive the second signal sent by the processing circuit, and receive the row position information of the first pixel group in the pixel array sent by the row arbitration circuit; determine the column position information of the pixel row where the first pixel group is located according to the second signal; and output the position information of the first pixel group in the pixel array.

[0022] By synchronizing the clock signal of the row arbitration circuit with the clock signal of the column selection circuit, the present application improves the output rate. The output result in the form of pixel groups increases the number of pixels output by the dynamic vision sensor at one time, has a lower output delay, and can also accurately output the position information of the pixel group where the pixel with the changed light intensity value is located in the pixel array.

[0023] In a possible design, the row arbitration circuit is further configured to: receive at least one third signal sent by the processing circuit; wherein, the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the pixel row to which the first pixel group belongs are different; respectively generate a response signal of the first signal and a response signal of the third signal; determine a first order of sending the response signal of the first signal and the response signal of the third signal to the processing circuit; and send the response signal of the first signal and the response signal of the third signal to the processing circuit according to the first order; the processing circuit is further configured to, after receiving the response signal of the first signal sent by the row arbitration circuit, send the second signal to the column selection circuit; and after receiving the response signal of the third signal sent by the row arbitration circuit, send a fourth signal to the column selection circuit; the fourth signal includes the column position information of the pixel row where the second pixel group is located.

[0024] In a possible design, the row arbitration circuit includes: a sub-arbitrator and a processor; the processor is configured to receive the first signal and the at least one third signal sent by the processing circuit; generate a first request signal according to the first signal; generate a second request signal according to the third signal; the sub-arbitrator is configured to determine a second order of priority of sending a response signal to the first request signal and a response signal to the second request signal to the processor according to the first request signal and the second request signal sent by the processor; send the response signal to the first request signal and the response signal to the second request signal to the processor in accordance with the second order of priority; the processor is further configured to, after receiving the response signal to the first request signal sent by the sub-arbitrator, process the first signal to obtain a response signal to the first signal; and after receiving the response signal to the second request signal sent by the sub-arbitrator, process the third signal to obtain a response signal to the third signal.

[0025] In a possible design, the row arbitration circuit is specifically configured to: determine a first order of priority of sending a response signal to the first signal and a response signal to the third signal to the processing circuit according to the row position information of the first pixel group included in the first signal in the pixel array and the row position information of the second pixel group included in the third signal in the pixel array.

[0026] In a possible design, the row arbitration circuit is further configured to: determine an order of priority of processing the first signal and the third signal according to the row position information of the first pixel group included in the first signal in the pixel array and the row position information of the second pixel group included in the third signal in the pixel array; process the first signal and the third signal in accordance with the order of priority; the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows.

[0027] In a possible design, the row arbitration circuit includes: a sub-arbitrator and a processor; the sub-arbitrator is configured to determine an order of priority of processing the first signal and the third signal according to the row position information of the first pixel group included in the first signal in the pixel array and the row position information of the second pixel group included in the third signal in the pixel array; the processor is configured to process the first signal and the third signal in accordance with the order of priority.

[0028] In a possible design, the column selection circuit includes: a position buffer module; the position buffer module is configured to: cache the row position information of the first pixel group in the pixel array; generate a cache failure signal when the cache space in the position buffer module is smaller than the data space of the row position information of the first pixel group in the pixel array; the row arbitration circuit is further configured to: receive the cache failure signal sent by the position buffer module; determine the signal transmission rate according to the cache failure signal; receive a plurality of fifth signals sent by the processing circuit, any one of the fifth signals is used to indicate that the light intensity value of the third pixel row in the pixel array changes; generate a response signal for the plurality of fifth signals according to the plurality of fifth signals; and send the response signal for the plurality of fifth signals to the processing circuit at the signal transmission rate.

[0029] In this application, the position buffer module in the column selection circuit generates a cache failure signal, so that the row arbitration circuit controls the rate of sending signals to the processing circuit according to the cache failure signal.

[0030] In a possible design, the column selection circuit is specifically configured to: when outputting the position information of the first pixel group with a changed light intensity value in the pixel array, output the time stamp corresponding to the first pixel group, so as to determine the accuracy of the pixel information of the pixels with changed light intensity values in the output pixel array in the spatial order.

[0031] In a fourth aspect, this application also provides an electronic device, including: the dynamic vision sensor in the second aspect and any of its designs, and the third aspect and any of its designs as above.

[0032] In a fifth aspect, this application also provides a method for a dynamic vision sensor to output pixel information, which is applied to the dynamic vision sensor in the second aspect and any of its designs, and the third aspect and any of its designs as above. The method includes: when it is detected that the light intensity value of at least one pixel in the first pixel group changes, generating a first signal and a second signal; where the first pixel group is any pixel group in the pixel array; determining the row position information of the first pixel group in the pixel array according to the first signal; and determining the column position information of the pixel row where the first pixel group is located according to the second signal; and outputting the position information of the first pixel group in the pixel array based on the row position information of the first pixel group in the pixel array and the column position information of the pixel row where the first pixel group is located.

[0033] In a possible design, after generating the first signal and the second signal, the method further includes: determining the light intensity value of each pixel in the first pixel group according to the first signal or the second signal, and outputting the light intensity value of each pixel in the first pixel group.

[0034] In a possible design, the method further includes: when it is detected that the light intensity value of at least one pixel in the second pixel group changes, generating a third signal; wherein, the second pixel group and the pixel row to which the first pixel group belongs are different; determining the row position information of the second pixel group in the pixel array according to the third signal; and determining the order of outputting the first pixel group and the second pixel group based on the row position information of the first pixel group and the second pixel group in the pixel array respectively.

[0035] In a possible design, the first signal is generated by the following method: determining the pixel signal of each pixel in the first pixel group; wherein, the pixel signal of the first pixel in the first pixel group is used to indicate whether the light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group; performing a logical calculation on the pixel signals of each pixel in the first pixel group to obtain the first signal.

[0036] In a possible design, the method further includes: when outputting the position information of the first pixel group with a changed light intensity value in the pixel array, outputting the timestamp corresponding to the first pixel group.

[0037] In a sixth aspect, the present application further provides a pixel processing method, which is applied to a chip as in the first aspect and any of its designs. The method includes: when it is detected that the light intensity value of at least one pixel in the first pixel group changes, generating a first signal; wherein, the first signal includes the row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; generating a second signal; the second signal includes the column position information of the pixel row where the first pixel group is located; sending the first signal and the second signal to a pixel output circuit; the first signal and the second signal are used to enable the pixel output circuit to output the position information of the first pixel group with a changed light intensity value in the pixel array.

[0038] In a possible design, the number of pixel groups included in each pixel row in the pixel array is determined in the following manner: for each preset initial group number, based on the number of columns of the pixel array, the bit width of pixel data, and the number of the first pixel groups in the pixel array, determining the pixel data amount corresponding to the initial group number; and determining the initial group number corresponding to the smallest pixel data amount among the respective pixel data amounts as the number of pixel groups included in each pixel row.

[0039] In a possible design, the method further includes: when the changed light intensity value of the pixel in the first pixel group is greater than a preset threshold, determining that the light intensity value of the pixel changes, and the preset threshold is any value between 5% of the pixel light intensity value and 30% of the pixel light intensity value.

[0040] In a possible design, the method further includes: sending the light intensity value of each pixel in the first pixel group to the pixel output circuit through the first signal or the second signal, so that the pixel output circuit outputs the light intensity value of each pixel in the first pixel group.

[0041] In a possible design, the generating of the first signal specifically includes: determining the pixel signal of each pixel in the first pixel group; wherein, the pixel signal of the first pixel in the first pixel group is used to indicate whether the light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group; performing a logical calculation on the pixel signals of each pixel in the first pixel group to obtain the first signal.

[0042] In a possible design, before sending the second signal to the pixel output circuit, the method further includes: after sending the first signal to the pixel output circuit, receiving the response signal of the first signal sent by the pixel output circuit; sending the second signal to the pixel output circuit specifically includes: based on the response signal of the first signal, sending the second signal to the pixel output circuit.

[0043] In a possible design, the method further includes: determining the order of processing the first signal and the third signal according to the row position information of the first pixel group included in the first signal in the pixel array and the row position information of the second pixel group included in the third signal in the pixel array; processing the first signal and the third signal in accordance with the order; the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows.

[0044] In a seventh aspect, the present application further provides a pixel processing device, the device includes: a first generating module, configured to generate a first signal when it is detected that the light intensity value of at least one pixel in the first pixel group changes; wherein, the first signal includes the row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; a second generating module, configured to generate a second signal; the second signal includes the column position information of the pixel row where the first pixel group is located; a sending module, configured to send the first signal and the second signal to the pixel output circuit; the first signal and the second signal are used to enable the pixel output circuit to output the position information of the first pixel group with a changed light intensity value in the pixel array.

[0045] In a possible design, the number of pixel groups included in each pixel row in the pixel array is determined as follows: for each preset initial number of groups, based on the number of columns of the pixel array, the bit width of pixel data, and the number of the first pixel groups in the pixel array, the pixel data volume corresponding to the initial number of groups is determined; the initial number of groups corresponding to the minimum pixel data volume among the pixel data volumes is determined as the number of pixel groups included in each pixel row.

[0046] In a possible design, the first generation module is specifically configured to: when the light intensity value change of the pixels in the first pixel group is greater than a preset threshold, determine that the light intensity value of the pixel changes, and the preset threshold is any value from 5% of the pixel light intensity value to 30% of the pixel light intensity value.

[0047] In a possible design, the sending module is further configured to: send the light intensity value of each pixel in the first pixel group to the pixel output circuit through the first signal or the second signal, so that the pixel output circuit outputs the light intensity value of each pixel in the first pixel group.

[0048] In a possible design, the first generation module is specifically configured to: determine the pixel signal of each pixel in the first pixel group; wherein, the pixel signal of the first pixel in the first pixel group is used to indicate whether the light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group; perform a logical calculation on the pixel signals of each pixel in the first pixel group to obtain the first signal.

[0049] In a possible design, the sending module is specifically configured to: after sending the first signal to the pixel output circuit, receive the response signal of the first signal sent by the pixel output circuit; based on the response signal of the first signal, send the second signal to the pixel output circuit.

[0050] In a possible design, the device further includes: determining the processing order of the first signal and the third signal according to the row position information of the first pixel group included in the first signal in the pixel array and the row position information of the second pixel group included in the third signal in the pixel array; processing the first signal and the third signal in accordance with the processing order; the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows.

[0051] In an eighth aspect, the present application further provides a device for outputting pixel information of a dynamic vision sensor, the device includes:

[0052] A generating module, configured to generate a first signal and a second signal when it detects that the light intensity value of at least one pixel in a first pixel group changes; wherein the first pixel group is any pixel group in the pixel array; a determining module, configured to determine the row position information of the first pixel group in the pixel array according to the first signal; and determine the column position information of the pixel row where the first pixel group is located according to the second signal; an output module, configured to output the position information of the first pixel group in the pixel array based on the row position information of the first pixel group in the pixel array and the column position information of the pixel row where the first pixel group is located.

[0053] In a possible design, the output module is further configured to: determine the light intensity value of each pixel in the first pixel group according to the first signal or the second signal, and output the light intensity value of each pixel in the first pixel group.

[0054] In a possible design, the device further includes: generating a third signal when it detects that the light intensity value of at least one pixel in a second pixel group changes; wherein the second pixel group and the pixel row to which the first pixel group belongs are different; determining the row position information of the second pixel group in the pixel array according to the third signal; and determining the output order of the first pixel group and the second pixel group based on the row position information of the first pixel group and the second pixel group in the pixel array respectively.

[0055] In a possible design, the generating module is specifically configured to: determine the pixel signal of each pixel in the first pixel group; wherein the pixel signal of the first pixel in the first pixel group is used to indicate whether the light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group; perform a logical calculation on the pixel signals of each pixel in the first pixel group to obtain the first signal.

[0056] In a possible design, the output module is further configured to: output the timestamp corresponding to the first pixel group when outputting the position information of the first pixel group in the pixel array whose light intensity value changes.

[0057] In a ninth aspect, the present application provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed by a dynamic vision sensor, the dynamic vision sensor can be made to execute the method according to any design in the fifth aspect above.

[0058] In a tenth aspect, the present application provides a computer-readable storage medium, which stores computer instructions, and when the computer instructions are executed by a chip, the chip can be made to execute the method according to any design in the sixth aspect above.

[0059] In the eleventh aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed by a dynamic vision sensor, the dynamic vision sensor can be made to execute the method of any design in the above fifth aspect.

[0060] In the twelfth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed by a chip, the chip can be made to execute the method of any design in the above sixth aspect.

[0061] For the technical effects that can be achieved by any possible design in any of the second to twelfth aspects above, please refer to the description of the technical effects that can be achieved by any possible design in the above first aspect, and will not be repeated here. Description of the Drawings

[0062] Figure 1 Schematic diagram of the output result of the frame-based output method in the prior art;

[0063] Figure 2 Schematic diagram of the structure of a chip provided by an embodiment of the present application;

[0064] Figure 3 Schematic diagram of the pixel signal and the first signal of a pixel provided by an embodiment of the present application;

[0065] Figure 4 Schematic diagram of the process of determining the first row of signals provided by an embodiment of the present application;

[0066] Figure 5 Schematic diagram of the signals of a pixel group and the corresponding response signals provided by an embodiment of the present application;

[0067] Figure 6 Schematic diagram of the process of determining the second signal provided by an embodiment of the present application;

[0068] Figure 7 Schematic diagram of the output result of a dynamic vision sensor provided by an embodiment of the present application;

[0069] Figure 8 Schematic diagram of a timestamp signal provided by an embodiment of the present application;

[0070] Figure 9 Schematic diagram of the comparison of the output results of a dynamic vision sensor provided by an embodiment of the present application;

[0071] Figure 10 Schematic diagram of the amount of pixel data output by a dynamic vision sensor when the abscissa is the number of pixel groups per row and the ordinate is the bit width of each pixel data provided by an embodiment of the present application;

[0072] Figure 11 Schematic diagram of the pixel data volume output by a dynamic vision sensor for three different application scenarios (circle, palm, street) provided in the embodiments of the present application, with the number of pixel groups per row on the abscissa and the number of output pixel groups on the ordinate;

[0073] Figure 12 Schematic diagram of the pixel data volume output by a dynamic vision sensor for three different application scenarios (circle, palm, street) provided in the embodiments of the present application when K takes different values;

[0074] Figure 13 Schematic diagram of the output of a dynamic vision sensor provided in the embodiments of the present application at a fixed frame rate and an unfixed frame rate;

[0075] Figure 14 Schematic diagram of the comparison of output power consumption of a dynamic vision sensor provided in the embodiments of the present application when outputting at a fixed frame rate and an unfixed frame rate;

[0076] Figure 15 Schematic flowchart of a method for outputting pixel information by a dynamic vision sensor provided in the embodiments of the present application. Detailed implementation manners

[0077] In order to enable those of ordinary skill in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0078] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data used may be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0079] Currently, after the pixel array of the DVS receives the light signal for imaging, the pixels with changed light intensity values are defined as activated pixels, and the pixels with unchanged light intensity values are defined as unactivated pixels. For a DVS that outputs the pixel information of activated pixels, it generally includes a row arbitration circuit and a column arbitration circuit.

[0080] The method of activating pixels based on frame-based DVS output is that when the clock signal of the row arbitration circuit is synchronized with the clock signal of the column arbitration circuit, the DVS outputs the pixel information of each pixel in the pixel array. However, only the pixel information of the activated pixels in the pixel array of the DVS is valid information after being output. Therefore, the amount of output result data of the DVS using the frame-based output method is large, and the output result is inaccurate. For example, Figure 1 shows a schematic diagram of the output result of the frame-based output method. Assume Figure 1 that the pixels at the position of the third row and the third column, the fifth row and the sixth column, and the seventh row and the third column in are activated pixels, and the order of activation time of these three pixels is: the pixel at the position of the fifth row and the sixth column (i.e., Figure 1 the pixel numbered 1 in ), the pixel at the position of the third row and the third column (i.e., Figure 1 the pixel numbered 2 in ), the pixel at the position of the seventh row and the third column (i.e., Figure 1 the pixel numbered 3 in ). Then the dotted box represents the pixel information of each pixel in the actually output pixel array. Compared with the output result that actually needs to output three activated pixels, the amount of output result data of the DVS using the frame-based output method is large, and the output result is inaccurate.

[0081] In view of this, the embodiments of the present application provide a dynamic vision sensor, an electronic device, and a method for the dynamic vision sensor to output pixel information. In order to make the purpose, technical solution, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings.

[0082] Figure 2 shows a schematic diagram of the structure of a chip provided by an embodiment of the present application. Among them, the chip includes: a pixel array 201-1 and a processing circuit 201-2. Each pixel row in the pixel array 201-1 is divided into at least two pixel groups, and each pixel group contains multiple pixels. For example Figure 2 the pixel array 201-1 in contains X pixel rows, the pixels of each pixel row are divided into K pixel groups (i.e., pixel group 1, pixel group 2,..., pixel group K), and each pixel group contains n pixels. For example, each pixel group 1 contains pixels 1, 2,..., n. Here, X, K, and n are all positive integers. The number of pixel groups in each pixel row of the pixel array will be introduced in detail later and will not be elaborated here.

[0083] Here, the pixel array may include M*N pixels, where M is the number of rows of the pixel array, N is the number of columns of the pixel array, and M and N are both positive integers. For example, the pixel array 201-1 is an 8-row and 9-column pixel array. Here, M and N may be the same value or different values.

[0084] When the pixel array 201-1 is irradiated by a light signal, for the processing circuit 201-2, when the light intensity value of at least one pixel in the first pixel group changes, pixel signals of each pixel in the first pixel group are generated. Here, the first pixel group is any pixel group in the pixel array 201-1, and the pixel signal of the first pixel in the first pixel group can indicate whether the light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group. Then, the processing circuit 201-2 obtains a first signal by performing a logical calculation on the pixel signals of each pixel in the first pixel group. Here, the first signal can indicate that the light intensity value of the first pixel group changes.

[0085] Optionally, when the changed light intensity value of the pixel in the first pixel group is greater than a preset threshold, it is determined that the light intensity value of the pixel changes. For example, the preset threshold is any value from 5% to 30% of the pixel light intensity value.

[0086] Exemplarily, assume that the first pixel group is Figure 2 Pixel group 1 in the first pixel row of the pixel array 201-1. When n = 4, pixel group 1 contains 4 pixels, namely pixel 1, pixel 2, pixel 3, and pixel 4. If the light signal irradiates pixel group 1, and the light intensity values of pixel 2 and pixel 4 both change, while the light intensity values of pixel 1 and pixel 3 do not change, then the processing circuit 201-2 generates a pixel signal of pixel 2 and a pixel signal of pixel 4 respectively for the pixels 2 and 4 whose light intensity values change. For example, the pixel signals of pixel 2 and pixel 4 are as Figure 3 shown, to indicate that the light intensity value of the pixel changes. The processing circuit 201-2 generates a pixel signal of pixel 1 and a pixel signal of pixel 3 respectively for the pixels 1 and 3 whose light intensity values do not change. For example, the pixel signals of pixel 1 and pixel 3 are as Figure 3 shown, to indicate that the light intensity value of the pixel does not change.

[0087] Optionally, the processing circuit 201-2 obtains the first signal by performing an OR logical calculation on the pixel signals of each pixel in the first pixel group respectively. The first signal includes the row position information of the first pixel group in the pixel array 201-1. For example, as Figure 4 shown, an OR logical calculation is performed on the pixel signal of pixel 1, the pixel signal of pixel 2, the pixel signal of pixel 3, and the pixel signal of pixel 4 to obtain the first signal, and the first signal is as Figure 3 shown. It is determined that the light intensity value of pixel group 1 changes through the first signal. Here, after the processing circuit 201-2 receives the first row response signal corresponding to the first row signal, it can also perform an AND logical calculation on the first row response signal and the first signal, and then send the calculation result to pixel 1. The determination process of the first row response signal will be introduced in detail later, and will not be elaborated here.

[0088] After the processing circuit 201-2 determines the first signal of the first pixel group, it obtains the first row signal by performing a logical calculation on the first signal and the third signals of at least one second pixel group. Here, the first row signal can indicate that the light intensity value of the first pixel row changes. The third signal of any second pixel group can indicate whether the light intensity value of the second pixel group changes. The first pixel group and at least one second pixel group belong to the same pixel row. Optionally, an OR logical calculation is performed on the first signal and the third signals of at least one second pixel group to obtain the first row signal. The generation process of the third signal of any second pixel group can refer to the generation process of the first signal of the first pixel group, which will not be elaborated here.

[0089] Exemplarily, continuing with the above example, assume Figure 2 that the first pixel row of the middle pixel array 201-1 contains two pixel groups (the first pixel group and the second pixel group), that is, when K = 2, if the third signal of the second pixel group is as Figure 3 shown by the A signal in, then the third signal of the second pixel group indicates that the light intensity value of the second pixel group has not changed. At this time, as Figure 4 shown, the processing circuit 201-2 performs an OR logical calculation on the first signal and the A signal to obtain the C signal, so the C signal is the first row signal. By the C signal, it is determined that the first row signal indicates that the light intensity value of the first pixel row changes, and the light intensity value of the first pixel group changes, while the light intensity value of the second pixel group does not change. If the third signal of the second pixel group is as Figure 3 shown by the B signal in, then the third signal of the second pixel group indicates that the light intensity value of the second pixel group changes. At this time, as Figure 4 shown, the processing circuit 201-2 performs an OR logical calculation on the first signal and the B signal to obtain the D signal, so the D signal is the first row signal. By the D signal, it is determined that the first row signal indicates that the light intensity value of the first pixel row changes, and the light intensity value of the first pixel group changes, and the light intensity value of the second pixel group also changes.

[0090] After the processing circuit 201-2 determines the first signal of the first pixel group, it can also continue to generate the second signal. The second signal includes the column position information of the pixel row where the first pixel group is located. By sending the first signal and the second signal to the pixel output circuit, the pixel output circuit can accurately output the position information of the first pixel group with a changed light intensity value in the pixel array 201-1.

[0091] Here, the first row signal can also include the row position information of the first pixel group in the pixel array 201-1, and the processing circuit 201-2 can also send the first row signal to the pixel output circuit.

[0092] Optionally, the processing circuit 201-2 can also send the light intensity value of each pixel in the first pixel group to the pixel output circuit through the first signal or the second signal, so that the pixel output circuit can also output the light intensity value of each pixel in the first pixel group. By combining the light intensity value of each pixel in the first pixel group with the position information of the first pixel group in the pixel array 201-1, a more accurate output result can be obtained.

[0093] In a possible design, in order to more accurately control the rate of the output result of the pixel output circuit, the processing circuit 201-2 sends the second signal to the pixel output circuit in any one of the following two ways:

[0094] X method: After the processing circuit 201-2 sends the first signal to the pixel output circuit, it receives the response signal of the first signal sent by the pixel output circuit, and based on the response signal of the first signal, sends the second signal to the pixel output circuit.

[0095] In this method, the pixel output circuit includes a row arbitration circuit. The process of determining the response signal of the first signal by the row arbitration circuit is the same as the process of determining the response signal of the first signal by the row arbitration circuit included in the following chip, which will not be elaborated here.

[0096] Y method: After the processing circuit 201-2 receives the response signal of the first signal sent by the row arbitration circuit included in the chip, it sends the second signal to the pixel output circuit based on the response signal of the first signal.

[0097] In this method, as Figure 2 shown, the row arbitration circuit 202 included in the chip includes: a sub-arbitrator 202-1, at least two processors 202-2 (such as a first processor, a second processor,..., an mth processor), where m is a positive integer. First, the processing circuit 201-2 sends the first signal to the first processor among the at least two processors 202-2, and can also send a third signal to the second processor among the at least two processors 202-2. Here, the third signal indicates that the light intensity value of the second pixel group has changed, and the second pixel group and the pixel row to which the first pixel group belongs are different.

[0098] Here, the processing circuit 201-2 can determine the signal corresponding to each pixel group in the pixel array 201-1 and schedule it to the designated processor among the at least two processors 202-2.

[0099] Exemplarily, assume that the pixel array 201-1 consists of pixels in an 8*8 matrix, and each pixel row is divided into two pixel groups. The processing circuit 201-2 sends the signals corresponding to the pixel groups in the pixel rows identified as the 1st pixel row - the 4th pixel row in the pixel array 201-1 to the first processor, and sends the signals corresponding to the pixel groups in the pixel rows identified as the 5th pixel row - the 8th pixel row to the second processor. If the light intensity values of pixel group A in the 5th pixel row and pixel group B in the 3rd pixel row change in sequence, the processing circuit 201-2 can send the row signal of the 3rd pixel row or the first signal of pixel group B to the first processor, and send the row signal of the 5th pixel row or the third signal of pixel group A to the second processor.

[0100] Then, the first processor generates a first request signal based on the first signal and sends the first request signal to the sub-arbitrator 202-1. The first request signal indicates processing of the first signal. At the same time, the second processor generates a second request signal based on the third signal and sends the second request signal to the sub-arbitrator 202-1. The second request signal indicates processing of the third signal. After receiving the first request signal sent by the first processor and the second request signal sent by the second processor, the sub-arbitrator 202-1 first determines the order of the response signal to be sent to the first processor for the first request signal and the response signal to be sent to the second processor for the second request signal, and then sends the response signal to the first processor for the first request signal and the response signal to the second processor for the second request signal in that order.

[0101] In a possible embodiment, the first signal includes the row position information of the first pixel group in the pixel array 201-1, and the third signal includes the row position information of the second pixel group in the pixel array 201-1. Alternatively, the first request signal includes the row position information of the first pixel group in the pixel array 201-1, and the second request signal includes the row position information of the second pixel group in the pixel array 201-1.

[0102] Continuing with the above example, for instance, the row position information included in the first request signal is the 3rd pixel row (row identifier 3), and the row position information included in the second request signal is the 5th pixel row (row identifier 5). Then, even if the sub-arbitrator 202-1 receives the second request signal first and then receives the first request signal within a specified time period, the sub-arbitrator 202-1 can determine the order of the first request signal and the second request signal in ascending order of the row identifier. That is, the sub-arbitrator 202-1 first sends the response signal to the first processor for the first request signal, and then sends the response signal to the second processor for the second request signal. The order in which the sub-arbitrator 202-1 sends response signals to different processors represents the order of processing the request signals, thus achieving sequential processing of signals of multiple pixel groups.

[0103] After receiving the response signal of the first request signal sent by the sub-arbitrator 202-1, the first processor processes the first signal to obtain the response signal of the first signal, and sends the response signal of the first signal to the processing circuit 201-2. After receiving the response signal of the second request signal sent by the sub-arbitrator 202-1, the second processor processes the third signal to obtain the response signal of the third signal, and sends the response signal of the third signal to the processing circuit 201-2. For example, as Figure 5 shown, under the action of the clock signal of the row arbitration circuit 202, the first processor processes signal 1 to obtain response signal 1, the second processor processes signal 2 to obtain response signal 2, and the third processor processes signal 3 to obtain response signal 3. Here, the first processor can not only process signal 1, but also process signal 2 simultaneously. This is only an example to illustrate the process of the processor processing the signal.

[0104] After receiving the response signal of the first signal sent by the first processor in the row arbitration circuit 202 in the chip, the processing circuit 201-2 generates a second signal according to the response signal of the first signal. Among them, the second signal includes the column position information of the pixel row where the first pixel group is located and the light intensity value of each pixel in the first pixel group, and sends the second signal to the pixel output circuit, where the pixel output circuit is Figure 2 the column selection circuit 203 in

[0105] As Figure 6 shown, the light intensity value, high impedance state of pixel 1 in the first pixel group, and the response signal of the first signal are selected by the selector to obtain the first group of pixel data buses. Similarly, the light intensity values, high impedance states of pixel 2, …, pixel n in the first pixel group, and the response signal of the first signal can also be selected by the selector to obtain the second group of pixel data buses, …, the nth group of pixel data buses respectively. The column position information, high impedance state of the first pixel group, and the response signal of the first signal are selected by the selector to obtain the first column position information bus. The processing circuit 201-2 connects the first group of pixel data buses, the second group of pixel data buses, …, the nth group of pixel data buses and the first column position information bus to obtain the second signal. Similarly, the processing circuit 201-2 can also generate a fourth signal according to the response signal of the third signal, which will not be elaborated here.

[0106] Optionally, after generating the second signal, the processing circuit 201-2 can also reset the pixels with changed light intensity values according to the response signal of the first signal.

[0107] In a possible embodiment, as Figure 2As shown, the row arbitration circuit 202 further includes: a row position information generation module 202-3. The row position information generation module 202-3 determines the row position information of the first pixel group according to the first request signal, and sends the row position information of the first pixel group to the column selection circuit 203. Here, the first request signal can be sent by the first processor or the sub-arbitrator 202-1. For example, when the first request signal includes a row identifier 3, the row position information generation module 202-3 determines that the row position information of the first pixel group is the third pixel row according to the first request signal.

[0108] After receiving the second signal sent by the processing circuit 201-2 and the row position information of the first pixel group sent by the row arbitration circuit 202, the column selection circuit 203 determines the column position information of the first pixel group according to the second signal. Then it outputs the light intensity value of each pixel in the first pixel group in the second signal, and outputs the position information of the first pixel group in the pixel array, where the position information includes the row position information of the first pixel row and the column position information of the first pixel group.

[0109] In this application, by outputting the pixels with changed light intensity values in the form of pixel groups in the pixel array, more accurate output results can be obtained. According to the output results of each pixel row in the spatial order in the pixel array, it is easy to restore them into the frame form of the pixel array, which is convenient for subsequent frame-based processing algorithms to process the output results. Through the signal execution order determined by the row position information of the pixel group in the pixel array, the output results of the pixel output circuit can have a spatial order in the pixel array.

[0110] Based on the chip provided in this application introduced above, in an embodiment of this application, a dynamic vision sensor is further provided. Among them, the dynamic vision sensor includes: a chip and a pixel output circuit. The chip includes a pixel array and a processing circuit. The pixel output circuit includes a row arbitration circuit and a column selection circuit; and the clock signals of the row arbitration circuit and the column selection circuit are synchronized. Or, the dynamic vision sensor includes: a chip and a pixel output circuit. The chip includes a pixel array, a processing circuit, and a row arbitration circuit. The pixel output circuit includes a column selection circuit; and the clock signals of the row arbitration circuit and the column selection circuit are synchronized. Here, it can be seen from the above description that the functions implemented by the row arbitration circuit can be the same in the two dynamic vision sensors.

[0111] Next, taking the dynamic vision sensor including: a chip and a pixel output circuit, the chip including a pixel array and a processing circuit, and the pixel output circuit including a row arbitration circuit and a column selection circuit as an example, the function implementation process of the column selection circuit in the pixel output circuit will be introduced. As Figure 2As shown in the figure, the column selection circuit 203 includes: a position buffer module 203-1, a pixel data buffer module 203-2, and a position processing module 203-3. Among them, after receiving the row position information of the first pixel group sent by the row arbitration circuit 202, the position buffer module 203-1 caches the row position information of the first pixel group and sends the row position information of the first pixel group to the position processing module 203-3. After receiving the second signal sent by the processing circuit 201-2, the pixel data buffer module 203-2 caches and outputs the light intensity values of each pixel in the first pixel group in the second signal; it can also determine the column position information of the first pixel group according to the second signal and send the column position information of the first pixel group to the position processing module 203-3. The position processing module 203-3 outputs the position information of the first pixel group in the pixel array, and the position information includes the row position information of the first pixel row and the column position information of the first pixel group.

[0112] Exemplarily, assume that the row position information of the first pixel group sent by the row arbitration circuit 202 is the fourth pixel row (row identifier 4), then the row position information of the first pixel group is cached in the position buffer module 203-1. Assume that the second signal sent by the processing circuit 201-2 includes the light intensity values of pixel 1, pixel 2, pixel 3, and pixel 4 in the first pixel group, and the column position information of the first pixel group is column identifier 4. Then, the light intensity values of pixel 1, pixel 2, pixel 3, and pixel 4 are cached in the pixel data buffer module 203-2. And the position processing module 203-3 outputs that the first pixel group is located in the fourth row and fourth column of the pixel array 201-1.

[0113] As Figure 7 shown in the figure, the pixel array 201-1 is composed of pixels in an 8*8 matrix. When the pixel array 201-1 is irradiated by a light signal, the pixels in the fifth row and sixth column, the pixels in the third row and third column, and the pixels in the seventh row and third column sequentially change their light intensity values. After each pixel row in the pixel array 201-1 is divided into two pixel groups, each pixel group contains four pixels. According to the signal transmission process described above, the column selection circuit 203 first outputs the position information of the pixel group where the pixel in the third row and third column is located (i.e., Figure 7 the pixel group marked by the dashed box label 1 in the figure) and the light intensity values of each pixel in the pixel group, then outputs the position information of the pixel group where the pixel in the fifth row and sixth column is located (i.e., Figure 7 the pixel group marked by the dashed box label 2 in the figure) and the light intensity values of each pixel in the pixel group, and finally outputs the position information of the pixel group where the pixel in the seventh row and third column is located (i.e., Figure 7 the pixel group marked by the dashed box label 3 in the figure) and the light intensity values of each pixel in the pixel group.

[0114] The execution order of the request signals in at least two processors is determined by a sub - arbiter, and the column selection circuit outputs in a pixel - group manner, so that the output result of the dynamic vision sensor has a spatial order, reducing the amount of output data. It is also easy to restore the output result of the dynamic vision sensor into the frame form of a pixel array, facilitating subsequent processing of the output result of the dynamic vision sensor using a synchronous clock signal and a frame - based processing algorithm.

[0115] Optionally, as Figure 2 shown, before the pixel data cache module 203 - 2 outputs the light intensity value of each pixel in the pixel group, the data can be further screened by a selector.

[0116] In a possible embodiment, as Figure 2 shown, the column selection circuit 203 further includes: a timer 203 - 4. When the pixel data cache module 203 - 2 outputs the light intensity value of each pixel in the first pixel group in the second signal, the timer 203 - 4 outputs a time stamp corresponding to the first pixel group. By setting a time stamp for each output pixel group, the output result of the dynamic vision sensor has a smaller amount of data.

[0117] As Figure 8 shown, under the action of the clock signal of the column selection circuit 203, when the pixel data cache module 203 - 2 outputs group data and the position processing module 203 - 3 outputs position information, it indicates the start of outputting a pixel group (i.e., the start - output signal in Figure 8 ), and at this time the timer 203 - 4 outputs the corresponding time stamp (i.e., the time - stamp signal in Figure 8 ). Here, the clock signal of the column selection circuit 203 is synchronized with the clock signal of the row arbitration circuit 202. Table 1 shows the pixel rows with row identifiers 1 - N in the pixel array 201 - 1. When each pixel row includes K pixel groups and the dynamic vision sensor starts to output pixel groups this time, the timer 203 - 4 outputs the corresponding time stamps, and the position information of each pixel group and the light intensity value of each pixel in each pixel group output by the dynamic vision sensor.

[0118] Table 1

[0119]

[0120]

[0121] In a possible embodiment, the row arbitration circuit 202 further includes: a control module 202-4. When the cache space in the position cache module 203-1 is smaller than the data space of the row position information of the first pixel group, the position cache module 203-1 can further generate a first cache failure signal and send the first cache failure signal to the control module 202-4. And / or, when the cache space in the pixel data cache module 203-2 is smaller than the data space of the light intensity values of each pixel in the first pixel group in the second signal, the pixel data cache module 203-2 can further generate a second cache failure signal and send the second cache failure signal to the control module 202-4.

[0122] After receiving the first cache failure signal and / or the second cache failure signal, the control module 202-4 first determines the signal transmission rate according to the first cache failure signal and / or the second cache failure signal, and then after receiving a plurality of fifth signals sent by the processing circuit 201-2, generates a response signal for the plurality of fifth signals according to the plurality of fifth signals. Here, any one of the fifth signals is used to indicate that the light intensity value of the third pixel row in the pixel array has changed. Finally, the response signal for the plurality of fifth signals is sent to the processing circuit 201-2 at the signal transmission rate. Optionally, the signal transmission rate can be a fixed rate or an unfixed rate. When the signal transmission rate is a fixed rate, after this signal transmission ends, the next signal can be transmitted after waiting for a specified duration. When the signal transmission rate is an unfixed rate, the next signal can be directly transmitted after this signal transmission ends.

[0123] By controlling the signal transmission rate to further control the amount of data output by the dynamic vision sensor, the problem of sparse data output by the dynamic vision sensor in the prior art is solved.

[0124] Next, the determination process of the number of pixel groups in each pixel row in the pixel array is introduced: Assume that the number of pixels in each row of the pixel array 201-1 of the dynamic vision sensor is N = 128, and each row contains K pixel groups. As Figure 9 shown, the initial images of three different application scenarios (circle, palm, street) are respectively input into the dynamic vision sensor, and three restored images corresponding to the three initial images are obtained according to the output results of the dynamic vision sensor. Figure 10 shows a schematic diagram with the abscissa being the number of pixel groups in each row and the ordinate being the amount of pixel data output by the dynamic vision sensor in the case of each pixel data bit width. Assume that each pixel data bit width is W, the row position information of the pixel group is represented by log 2 N denoted, the column position information of the pixel group is represented by log 2 K denoted, the data bit width of the pixel group is (N / K)*W, then the data bit width of the second signal is represented by (log2 N +log 2 K +(N / K)*W). It is known from Figure 10 that the smaller K is, the larger the data bit width of the second signal is. Figure 11 shows a schematic diagram of the pixel data volume output by a dynamic vision sensor under three different application scenarios (circle, palm, street), where the abscissa is the number of pixel groups per row and the ordinate is the number of output pixel groups. It is known from Figure 11 that the smaller K is, the fewer the number of pixel groups output by the dynamic vision sensor. And the data volume output by the dynamic vision sensor is the product of the number of pixel groups output by the dynamic vision sensor and the data bit width of the second signal of each pixel group. Figure 12 shows a schematic diagram of the pixel data volume output by the dynamic vision sensor under three different application scenarios (circle, palm, street) when K takes different values. It is known from Figure 12 that when K takes any one of 8, 16, 32, and 64, the dynamic vision sensor outputs a relatively small amount of pixel data. Among them, when K takes different values, the schematic diagrams of the pixel data volume output by the dynamic vision sensor of the street, palm, and circle are shown from left to right in sequence. Here, the K corresponding to the smallest pixel data volume among each pixel data volume can be determined as the number of pixel groups included in each pixel row.

[0125] Table 2 shows the comparison of the output bandwidth and output delay of the dynamic vision sensor when the clock signal of the row arbitration circuit is synchronized or asynchronous with the clock signal of the column selection circuit for different pixel arrays. Among them, the output bandwidth is determined by the product of the output rate and the number of pixel groups output by the dynamic vision sensor at one time. By synchronizing the clock signal of the row arbitration circuit with the clock signal of the column selection circuit, the output rate is increased, and by outputting according to pixel groups, the number of pixel groups output by the dynamic vision sensor at one time is increased. Therefore, it has a lower output delay.

[0126] Table 2

[0127]

[0128] Figure 13 shows the output schematic diagrams of the dynamic vision sensor in two cases: outputting at a fixed frame rate and outputting at a non-fixed frame rate when different pixels in the pixel array of the dynamic vision sensor are activated multiple times. It is known from Figure 13 that when the dynamic vision sensor outputs at a non-fixed frame rate, the output delay is lower. Figure 14 shows a schematic diagram of the comparison of the output power consumption of the dynamic vision sensor in two cases: outputting at a fixed frame rate and outputting at a non-fixed frame rate. It is known from Figure 14It can be known that when the dynamic vision sensor outputs at a fixed frame rate, the power consumption is relatively low. By controlling the signal transmission rate to further control the output frame rate of the dynamic vision sensor, it is possible to achieve both output at a fixed frame rate and output at a non-fixed frame rate.

[0129] Based on the above embodiments of the dynamic vision sensor, an embodiment of the present application further provides an electronic device, including a dynamic vision sensor designed as described above.

[0130] Based on the above embodiments of the dynamic vision sensor, an embodiment of the present application further provides a method for a dynamic vision sensor to output pixel information, and this method can be executed by the dynamic vision sensor. As Figure 15 shown, the method provided by the present application includes the following steps:

[0131] S1501, when it is detected that the light intensity value of at least one pixel in the first pixel group changes, generate a first signal and a second signal; wherein, the first pixel group is any pixel group in the pixel array;

[0132] S1502, determine the row position information of the first pixel group in the pixel array according to the first signal; and determine the column position information of the pixel row where the first pixel group is located according to the second signal;

[0133] S1503, based on the row position information of the first pixel group in the pixel array and the column position information of the pixel row where the first pixel group is located, output the position information of the first pixel group in the pixel array.

[0134] In a possible design, in step S1501, after generating the first signal and the second signal, the method further includes:

[0135] The dynamic vision sensor determines the light intensity value of each pixel in the first pixel group according to the first signal or the second signal, and outputs the light intensity value of each pixel in the first pixel group.

[0136] In a possible design, the method further includes:

[0137] When the dynamic vision sensor detects that the light intensity value of at least one pixel in the second pixel group changes, generate a third signal; wherein, the second pixel group and the pixel row to which the first pixel group belongs are different; determine the row position information of the second pixel group in the pixel array according to the third signal; based on the row position information of the first pixel group and the second pixel group in the pixel array respectively, determine the order of outputting the first pixel group and the second pixel group.

[0138] In a possible design, the first signal is generated by the following method:

[0139] Determine the pixel signals of each pixel in the first pixel group; wherein, the pixel signal of the first pixel in the first pixel group is used to indicate whether the light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group; perform a logical calculation on the pixel signals of each pixel in the first pixel group to obtain a first signal.

[0140] In a possible design, the method further includes:

[0141] When the dynamic vision sensor outputs the position information of the first pixel group in the pixel array where the light intensity value changes, output the timestamp corresponding to the first pixel group.

[0142] The embodiments of the present application further provide a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed by the dynamic vision sensor, the dynamic vision sensor can be made to execute any of the methods for the dynamic vision sensor to output pixel information in the above design.

[0143] The embodiments of the present application further provide a computer program product, including computer instructions. When the computer instructions are executed by the dynamic vision sensor, the dynamic vision sensor can be made to execute any of the methods for the dynamic vision sensor to output pixel information in the above design.

[0144] That is to say, each aspect of the method for the dynamic vision sensor to output pixel information in the above design provided by the present application can also be implemented in the form of a program product, which includes program code. When the program code runs on a computer device or a circuit product, the program code is used to make the computer device execute any of the methods for the dynamic vision sensor to output pixel information described above in this specification.

[0145] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the shown operations must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0146] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0147] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0148] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0150] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. A dynamic vision sensor, characterized in that: include: A pixel array, a processing circuit, a row arbitration circuit, and a pixel output circuit; Each pixel row in the pixel array includes at least two pixel groups, and each pixel group includes a plurality of pixels; The processing circuit is used to generate a first signal when detecting, through the pixel signal of each pixel included in the first pixel group, that the light intensity value of at least one pixel in the first pixel group changes; wherein the first signal indicates that the light intensity value of the first pixel group changes, and the first signal includes a row identifier, and the row identifier is used to indicate row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; The processing circuit is further used to generate a second signal; the second signal includes a column identifier and a light intensity value of each pixel in the first pixel group, and the column identifier is used to indicate the column position information of the pixel row where the first pixel group is located; The first signal and the second signal are sent to the pixel output circuit; the first signal and the second signal are used to make the pixel output circuit output the position information of the first pixel group with the changed light intensity value in the pixel array; The row arbitration circuit is used to determine the order of processing the first signal and the third signal according to the row position information of the first pixel group in the pixel array included in the first signal and the row position information of the second pixel group in the pixel array included in the third signal; wherein the clock signal of the row arbitration circuit is synchronized with the clock signal of the pixel output circuit; The first signal and the third signal are processed in the sequence; the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows.

2. The dynamic vision sensor according to claim 1, characterized in that: The row arbitration circuit comprises: a sub-arbiter and a processor; The sub-arbiter is used to determine the order of processing the first signal and the third signal according to the row position information of the first pixel group in the pixel array included in the first signal and the row position information of the second pixel group in the pixel array included in the third signal; The processor is used to process the first signal and the third signal in the sequence.

3. A dynamic vision sensor, characterized in that: include: A pixel array, a processing circuit, a row arbitration circuit, and a pixel output circuit; Each pixel row in the pixel array includes at least two pixel groups, and each pixel group includes a plurality of pixels; The processing circuit is used to generate a first signal when detecting, through the pixel signal of each pixel included in the first pixel group, that the light intensity value of at least one pixel in the first pixel group changes; wherein the first signal indicates that the light intensity value of the first pixel group changes, and the first signal includes a row identifier, and the row identifier is used to indicate row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; The processing circuit is further used to generate a second signal; the second signal includes a column identifier and a light intensity value of each pixel in the first pixel group, and the column identifier is used to indicate the column position information of the pixel row where the first pixel group is located; The first signal and the second signal are sent to the pixel output circuit; the first signal and the second signal are used to make the pixel output circuit output the position information of the first pixel group with the changed light intensity value in the pixel array; The row arbitration circuit is used to receive the first signal and at least one third signal sent by the processing circuit; the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows; generating a response signal to the first signal and a response signal to the third signal respectively; determining a first sequence of sending a response signal of the first signal and a response signal of the third signal to the processing circuit; A response signal of the first signal and a response signal of the third signal are sent to the processing circuit in the first order, so that the processing circuit sends the second signal to the pixel output circuit; and sends a fourth signal to the pixel output circuit; the fourth signal includes column position information of the pixel row where the second pixel group is located.

4. The dynamic vision sensor according to claim 3, characterized in that: The row arbitration circuit comprises: a sub-arbiter and a processor; The processor is configured to receive the first signal and the at least one third signal sent by the processing circuit; generate a first request signal according to the first signal; and generate a second request signal according to the third signal; The sub-arbiter is used to determine a second priority order of sending a response signal of the first request signal and a response signal of the second request signal to the processor according to the first request signal and the second request signal sent by the processor; and send the response signal of the first request signal and the response signal of the second request signal to the processor according to the second priority order; The processor is further configured to, after receiving a response signal to the first request signal sent by the sub-arbiter, process the first signal to obtain a response signal to the first signal; and, after receiving a response signal to the second request signal sent by the sub-arbiter, process the third signal to obtain a response signal to the third signal.

5. The dynamic vision sensor according to claim 3, characterized in that: The row arbitration circuit is specifically used for: Based on the row position information of the first pixel group in the pixel array included in the first signal and the row position information of the second pixel group in the pixel array included in the third signal, a first sequence of sending a response signal of the first signal and a response signal of the third signal to the processing circuit is determined.

6. A dynamic vision sensor, characterized in that: include: A pixel array, a processing circuit and a pixel output circuit; each pixel row in the pixel array includes at least two pixel groups, and each pixel group includes a plurality of pixels; The processing circuit is used to generate a first signal when detecting, through the pixel signal of each pixel included in the first pixel group, that the light intensity value of at least one pixel in the first pixel group changes; wherein the first signal indicates that the light intensity value of the first pixel group changes, and the first signal includes a row identifier, and the row identifier is used to indicate row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; The processing circuit is further used to generate a second signal; the second signal includes a column identifier and a light intensity value of each pixel in the first pixel group, and the column identifier is used to indicate the column position information of the pixel row where the first pixel group is located; The first signal and the second signal are sent to a pixel output circuit; the first signal and the second signal are used to enable the pixel output circuit to output position information of a first pixel group with a changed light intensity value in the pixel array; The pixel output circuit comprises: a row arbitration circuit and a column selection circuit; wherein the clock signal of the row arbitration circuit is synchronized with the clock signal of the column selection circuit; The row arbitration circuit is configured to receive the first signal sent by the processing circuit; determine row position information of the first pixel group in the pixel array according to the first signal; and send the row position information of the first pixel group in the pixel array to the column selection circuit; The column selection circuit is used to receive the second signal sent by the processing circuit, and receive the row position information of the first pixel group in the pixel array sent by the row arbitration circuit; determine the column position information of the pixel row where the first pixel group is located according to the second signal; and output the position information of the first pixel group in the pixel array.

7. The dynamic vision sensor according to claim 6, characterized in that: The row arbitration circuit is further used to: receive at least one third signal sent by the processing circuit; wherein the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows; respectively generate a response signal of the first signal and a response signal of the third signal; determine a first priority sequence of sending the response signal of the first signal and the response signal of the third signal to the processing circuit; and send the response signal of the first signal and the response signal of the third signal to the processing circuit according to the first priority sequence; The processing circuit is also used to send the second signal to the column selection circuit after receiving a response signal to the first signal sent by the row arbitration circuit; and to send a fourth signal to the column selection circuit after receiving a response signal to the third signal sent by the row arbitration circuit; the fourth signal includes the column position information of the pixel row where the second pixel group is located.

8. The dynamic vision sensor according to claim 6 or 7, characterized in that: The row arbitration circuit comprises: a sub-arbiter and a processor; The processor is configured to receive the first signal and the at least one third signal sent by the processing circuit; generate a first request signal according to the first signal; and generate a second request signal according to the third signal; The sub-arbiter is used to determine a second priority order of sending a response signal of the first request signal and a response signal of the second request signal to the processor according to the first request signal and the second request signal sent by the processor; and send the response signal of the first request signal and the response signal of the second request signal to the processor according to the second priority order; The processor is further configured to, after receiving a response signal to the first request signal sent by the sub-arbiter, process the first signal to obtain a response signal to the first signal; and, after receiving a response signal to the second request signal sent by the sub-arbiter, process the third signal to obtain a response signal to the third signal.

9. The dynamic vision sensor according to claim 7, characterized in that: The row arbitration circuit is specifically used for: Based on the row position information of the first pixel group in the pixel array included in the first signal and the row position information of the second pixel group in the pixel array included in the third signal, a first sequence of sending a response signal of the first signal and a response signal of the third signal to the processing circuit is determined.

10. The dynamic vision sensor according to claim 6, characterized in that: The row arbitration circuit is also used to: determine the order of processing the first signal and the third signal based on the row position information of the first pixel group in the pixel array included in the first signal, and the row position information of the second pixel group in the pixel array included in the third signal; process the first signal and the third signal in the order; the third signal is used to indicate that the light intensity value of the second pixel group has changed; the second pixel group and the first pixel group belong to different pixel rows.

11. The dynamic vision sensor according to claim 10, characterized in that: The row arbitration circuit comprises: a sub-arbiter and a processor; The sub-arbiter is used to determine the order of processing the first signal and the third signal according to the row position information of the first pixel group in the pixel array included in the first signal and the row position information of the second pixel group in the pixel array included in the third signal; The processor is used to process the first signal and the third signal in the sequence.

12. The dynamic vision sensor according to claim 6 or 7, characterized in that: The column selection circuit includes: a position cache module; The location cache module is used to: caching row position information of the first pixel group in the pixel array; When the cache space in the position cache module is smaller than the data space of the row position information of the first pixel group in the pixel array, a cache failure signal is generated; The row arbitration circuit is also used to: receive the cache failure signal sent by the position cache module; determine the signal transmission rate according to the cache failure signal; receive multiple fifth signals sent by the processing circuit, any one of the fifth signals is used to indicate that the light intensity value of the third pixel row in the pixel array has changed; generate multiple fifth signal response signals based on the multiple fifth signals; and send the multiple fifth signal response signals to the processing circuit at the signal transmission rate.

13. The dynamic vision sensor according to claim 6 or 7, characterized in that: The column selection circuit is specifically used for: When outputting the position information of the first pixel group whose light intensity value changes in the pixel array, the timestamp corresponding to the first pixel group is output.

14. An electronic device, characterized in that: include: A dynamic vision sensor as described in any one of claims 1 to 13.

15. A method for outputting pixel information of a dynamic visual sensor, characterized in that: Applied to the dynamic vision sensor according to any one of claims 1 to 13, the method comprises: When a change in the light intensity value of at least one pixel in the first pixel group is detected through the pixel signal of each pixel included in the first pixel group, a first signal and a second signal are generated; wherein the first signal indicates that the light intensity value of the first pixel group has changed, and the first signal includes a row identifier, and the row identifier is used to indicate the row position information of the first pixel group in the pixel array; the first pixel group is any pixel group in the pixel array; the second signal includes a column identifier and the light intensity value of each pixel in the first pixel group, and the column identifier is used to indicate the column position information of the pixel row where the first pixel group is located; Determine row position information of a first pixel group whose light intensity value changes in the first pixel group in the pixel array according to the first signal; and determine column position information of a pixel row where the first pixel group is located according to the second signal; Outputting position information of the first pixel group whose light intensity value changes in the pixel array based on the row position information of the first pixel group in the pixel array and the column position information of the pixel row where the first pixel group is located; Determine the order of processing the first signal and the third signal according to the row position information of the first pixel group in the pixel array included in the first signal and the row position information of the second pixel group in the pixel array included in the third signal; wherein the clock signal of the row arbitration circuit is synchronized with the clock signal of the pixel output circuit; The first signal and the third signal are processed in the sequence; the third signal is used to indicate that the light intensity value of the second pixel group changes; the second pixel group and the first pixel group belong to different pixel rows.

16. The method according to claim 15, characterized in that After generating the first signal and the second signal, the method further includes: The light intensity value of each pixel in the first pixel group is determined according to the first signal or the second signal, and the light intensity value of each pixel in the first pixel group is output.

17. The method according to claim 15 or 16, characterized in that The method further comprises: When a change in the light intensity value of at least one pixel in the second pixel group is detected, a third signal is generated; wherein the second pixel group and the first pixel group belong to different pixel rows; Determine row position information of the second pixel group in the pixel array according to the third signal; Based on row position information of the first pixel group and the second pixel group in the pixel array, respectively, an order of outputting the first pixel group and the second pixel group is determined.

18. The method according to claim 15 or 16, characterized in that The first signal is generated by: Determine a pixel signal of each pixel in the first pixel group; wherein the pixel signal of a first pixel in the first pixel group is used to indicate whether a light intensity value of the first pixel changes, and the first pixel is any pixel in the first pixel group; Performing logic calculation on the pixel signal of each pixel in the first pixel group to obtain the first signal.

19. The method according to claim 15 or 16, characterized in that The method further comprises: When outputting the position information of the first pixel group whose light intensity value changes in the pixel array, the timestamp corresponding to the first pixel group is output.

Images