TWI874967B - Dynamic vision sensing device and method, dynamic vision camera - Google Patents

Abstract

The present disclosure provides a dynamic vision sensing device, a dynamic visual sensing method and a dynamic vision camera. The dynamic vision sensing device includes a dispersion lens and a sensor. The dispersion lens is used to disperse an incident complex light into a variety of different colors of monochromatic light. The complex light is reflected light of the color measured object. The monochromatic light of different colors forms fuzzy circles with different area sizes on the sensor. The sensor is used to output event signals based on the information of the number of fuzzy circle types. The fuzzy circle types are divided according to the size of the area of the fuzzy circle.

Description

Dynamic vision sensing device and method, dynamic vision camera

This application relates to the field of image acquisition technology, and in particular to a dynamic visual sensing device and method, and a dynamic visual camera.

Currently, the dynamic vision sensor devices used in the market are mainly used to identify the dynamic changes in brightness (grayscale) of black and white targets, but it is difficult to identify the dynamic changes in brightness of color targets.

In view of this, this application provides a dynamic vision sensing device and method, and a dynamic vision camera, which can more accurately identify dynamically changing color targets.

In the first aspect, the present application provides a dynamic visual sensing device, which includes a dispersion lens and a sensor. The dispersion lens is used to disperse the incident complex light into a plurality of monochromatic lights of different colors, wherein the complex light is the reflected light of the color target to be measured, and the monochromatic lights of different colors form blur circles of different sizes on the sensor; the sensor is used to output event signals according to the type and quantity change information of the blur circle, wherein the type of the blur circle is obtained according to the area size of the blur circle.

Thus, the dynamic vision sensor device includes a dispersion lens and a sensor. The complex light reflected by the color target enters the dynamic vision sensor device. The dispersion lens is used to disperse the incident complex light into a plurality of monochromatic lights of different colors. The monochromatic lights of different colors form blur circles of different sizes on the sensor. The blur image of the same size is a blur circle. The color target has a color intersection area and a single color area. When the color target moves, the number of blur circles of complex light reflected by the color intersection area received by the sensor is different from the number of blur circles of light reflected by the single color area, that is, the number of blur circles received will change. The sensor outputs an event signal according to the change information of the number of blur circles, thereby more accurately identifying the dynamic changes of the color target.

In some embodiments of the first aspect, the sensor further includes pixels, which are used to obtain energy change information based on the type and quantity change information of the blur circle, and output event signals based on the energy change information.

In this way, the color target has a color intersection area and a single color area. The number of blur circles of complex light reflected by the color intersection area received by the pixel is different from the number of blur circles of complex light reflected by the single color area. When the color target moves, the number of blur circles received by the pixel will change. The change in the number of blur circles will cause energy changes. The event signal is output based on the energy change information, thereby identifying the dynamic changes of the color target.

In some embodiments of the first aspect, the pixel is also used to obtain the energy that increases with a positive gradient when the number of types of the blur circle increases; and to obtain the energy that decreases with a negative gradient when the number of types of the blur circle decreases.

In some embodiments of the first aspect, the pixel is also used to generate a positive event signal when the energy increases with the positive gradient, and output the positive event signal when the energy is greater than a positive threshold.

In this way, when the color target moves from the pixel receiving a single color area to receiving complex color light in the color intersection area, the number of blur circles received by the pixel will increase, resulting in an increase in the received energy. The pixel generates a positive event signal based on the increased energy and determines whether to output an event based on the positive threshold value so that the dynamic vision sensor device can identify the color intersection area of the color target.

In some embodiments of the first aspect, the pixel is also used to generate a negative event when the energy decreases with the negative gradient, and output the negative event signal when the decreasing energy is less than a negative threshold.

In this way, when the color target moves from the pixel receiving the color intersection area to the single color area of the complex light, the type of blur circle received by the pixel will decrease, resulting in a decrease in the received energy. The pixel generates a negative event based on the decreasing energy and determines whether to output a negative event signal based on the negative threshold value, so that the dynamic vision sensor device can identify the color intersection area of the color target.

In some embodiments of the first aspect, the blur circle size is greater than or equal to the pixel size.

The second aspect of the present application provides a dynamic vision camera, the dynamic vision camera includes the above-mentioned dynamic vision sensor device and processor, the dynamic vision sensor device is used to output an event signal according to the complex light reflected by the color target to be measured; the processor is used to generate spectral information according to the event signal; and the image of the color target to be measured is generated according to the spectral information and the position information of the color target to be measured.

Thus, the dynamic vision camera includes a dynamic vision sensor device and a processor. After the dynamic vision sensor device outputs an event signal according to the complex light reflected by the color target, the processor generates spectral information according to the event signal, and an image of the color target can be generated according to the spectral information and the position information of the color target.

In some embodiments of the second aspect, the processor is also used to generate bright spectral information based on the positive event signal and generate dark spectral information based on the negative event signal.

In some embodiments of the second aspect, the processor is also used to generate a dynamically changing video of the color target based on the image of the color target.

The third aspect of the present application provides a dynamic visual sensing method, which is applied to a dynamic visual sensing device, wherein the dynamic visual sensing device includes a dispersion lens and a sensor, and the method includes: obtaining a complex light reflected by a color target through the dispersion lens, and dispersing the complex light into a plurality of monochromatic lights of different colors, wherein the monochromatic lights of different colors form blur circles of different sizes on the sensor; obtaining type and quantity change information of the blur circle according to the size of the area of the blur circle; and outputting an event signal according to the type and quantity change information of the blur circle.

Thus, the dynamic vision sensing device includes a dispersion lens and a sensor. The complex light reflected by the color target enters the dynamic vision sensing device. The dispersion lens is used to disperse the incident complex light into a plurality of monochromatic lights of different colors. The monochromatic lights of different colors form blur circles of different sizes on the sensor. The blur image of the same size is a blur circle. The color target has a color intersection area and a single color area. When the color target moves, the number of blur circle types received by the sensor for the complex light reflected by the color intersection area is different from the number of blur circle types for the light reflected by the single color area, that is, the number of blur circle types received will change. The sensor outputs an event signal according to the information of the change in the number of blur circle types, thereby more accurately identifying the dynamic changes of the color target.

1: The first dynamic visual sensor device

2: Light axis

3: Second dynamic visual sensor device

4: Processor

11: Lens

111: First prism

112: First concave lens

12: First sensor

121: First pixel

1000: Dynamic Vision Camera

31: Dispersion lens

32: Second sensor

321: Second pixel

311: Second Prism

312: Second concave lens

313: The third prism

Figure 1 is a schematic diagram of the structure of a dynamic visual sensor device.

Figure 2 is a schematic diagram of an application scenario of the dynamic visual sensing device shown in Figure 1.

Figure 3 is a schematic diagram of another application scenario of the dynamic visual sensing device shown in Figure 1.

FIG4 is a schematic diagram of another application scenario of the dynamic visual sensing device shown in FIG1.

Figure 5 is a schematic diagram of another application scenario of the dynamic visual sensing device shown in Figure 1.

Figure 6 is a schematic diagram of the structure of the dynamic vision camera in the embodiment of this application.

Figure 7 is a schematic diagram of the structure of the dynamic visual sensor device in the embodiment of this application.

Figure 8 is a detailed structural diagram of one of the dynamic visual sensing devices shown in Figure 7.

FIG9 is another detailed structural schematic diagram of the dynamic visual sensor device shown in FIG7.

Figure 10 is a schematic diagram of an application scenario of a dynamic visual sensing device in an embodiment of this application.

Figure 11 is a schematic diagram of another application scenario of the dynamic visual sensing device in the embodiment of this application.

Figure 12 is a schematic diagram of another application scenario of the dynamic visual sensing device in the embodiment of this application.

FIG13 is a schematic diagram of the event signal generation and output process of the pixel of the dynamic vision sensor device in the embodiment of the present application.

Figure 14 is a schematic diagram of another application scenario of the dynamic visual sensing device in the embodiment of this application.

The "multiple" mentioned in this application refers to two or more. In addition, it should be understood that in the description of this application, the terms "first" and "second" are only used for the purpose of distinguishing descriptions and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

In the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or advantageous than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete way.

Below is an explanation of some of the terms used in this application.

Dynamic Vision Sensor (DVS) is an image sensor used to identify dynamically changing targets.

The target to be detected refers to the object identified by the state vision sensor device, including objects and environment, etc.

The focal plane refers to the plane that can be focused when the dynamic vision sensor device is focused. Other planes that are inconsistent with the position of this plane are non-focus planes.

The blur circle refers to the same monochromatic light emitted at different angles from a point on the non-focal plane hitting different points on the sensor. All the different points form a blur circle. The term for the blur circle is circle of confusion.

Energy can be light intensity or brightness. When the polychromatic light is visible light, energy can be light intensity. When the polychromatic light is invisible light, energy can be light intensity or brightness. The unit of light intensity is Lux (Lux or lx), and the unit of brightness is nit (nit or cd/m ² ).

Grayscale refers to the brightness level of an image between the brightest and darkest.

The first dynamic vision sensor device is a dynamic vision sensor device used in the market, and the second dynamic vision sensor device is the dynamic vision sensor device of this application. The first sensor is the sensor of the first dynamic vision sensor device, the first pixel is the pixel of the first sensor, the first prism is the prism of the first dynamic vision sensor device, and the first concave lens is the concave lens of the first dynamic vision sensor device.

The second sensor is a sensor of the second dynamic vision sensing device, the second pixel is a pixel of the second sensor, the second prism and the third prism are prisms of the second dynamic vision sensing device, and the second concave lens is a concave lens of the second dynamic vision sensing device.

The following is a brief description of the relevant technologies.

Currently, the dynamic vision sensor devices used in the market are mainly used to identify the dynamic changes in brightness (grayscale) of black and white targets, but it is difficult to identify the dynamic changes in brightness (grayscale) of color targets.

The structure of the first dynamic vision sensor device, which is a dynamic vision sensor device used in the market, is shown in FIG1. The first dynamic vision sensor device 1 includes a lens 11 and a first sensor 12. The lens 11 and the first sensor 12 are sequentially arranged along the incident optical axis 2 of the incident complex light. The lens 11 includes a first prism 111 and a first concave lens 112. The first prism 111 and the first concave lens 112 are arranged along the incident optical axis 2 of the incident complex light. The incident light axis 2 is set in sequence, the first prism 111 is used to disperse the complex light into monochromatic lights of various colors, and the first concave lens 112 is used to eliminate the axial chromatic aberration of the various monochromatic lights on the optical axis, so that the areas of the blur circles formed by different types of monochromatic lights on the first sensor 12 are close in size, for example, the areas of the blur circles formed by the blue monochromatic light on the first sensor 12 and the blur circles formed by the green monochromatic light on the first sensor 12 are close in size. Please refer to Figure 2, which is an application scene diagram of the first dynamic visual sensor device 1. The color target to be measured has three colors. After the light is reflected by the color target to be measured, a complex light of three colors is formed. After the complex light passes through the first prism 111, the complex light is dispersed into three colors of monochromatic light. The three colors of monochromatic light are corrected for axial chromatic aberration by the first concave lens 112 to eliminate the axial chromatic aberration of the three colors of monochromatic light on the optical axis 2, so that the areas of the blur circles formed by the three colors of monochromatic light on the first sensor 12 are close in size.

Please refer to FIG3. The first dynamic vision sensor device 1 identifies the dynamically changing color target to be detected. When switching different aperture sizes, as shown in FIG3 (I), the dynamic vision sensor device presents an image of multiple pixels with an aperture size of the first value, as shown in FIG3 (II), presents an image of multiple pixels with an aperture size of the second value, and presents an image of multiple pixels with an aperture size of the third value, as shown in FIG3 (III).

Understandably, under different apertures, the lens 11 of the first dynamic vision sensor device 1 makes the area size of the blur circle close, so that the boundary between the pixel images of the color object being measured is clear, that is, there is no chromatic aberration in the image, and the axial chromatic aberration is corrected.

Please refer to Figure 1 again. The first sensor 12 is used to receive the energy of the complex light. The first sensor 12 includes a plurality of first pixels 121 (Pixel). Each first pixel 121 of the first sensor 12 has a corresponding positive threshold value and a negative threshold value. When the color target moves, the light passes through the target and enters the first dynamic vision sensing device 1. When the energy value of the light received by the first pixel 121 continues to increase to be higher than the positive threshold value, the first pixel 121 outputs a positive event signal (+Event). When the energy value of the light received by the first pixel 121 continues to decrease to be lower than the negative threshold value, the first pixel 121 outputs a negative event signal (-Event).

Please refer to Figure 4. In an example, the first sensor 12 of the first dynamic visual sensing device 1 includes a first pixel 121 located at position i (hereinafter referred to as the first pixel 121i) and a first pixel 121 located at position j (hereinafter referred to as the first pixel 121j). The positive threshold value of the first pixel 121i is N/3, and the negative threshold value is N/9. The positive threshold value of the first pixel 121j is N/2, and the negative threshold value is N/10. The color target to be measured has a blue area and a green area. When the color target to be measured is at the first position, light is irradiated to the color target to be measured, and a blue monochromatic light B is reflected from the blue area, and a green monochromatic light G is reflected from the green area. The blue monochromatic light B and the green monochromatic light G form a complex light, and the complex light enters the first sensor 12. The first pixel 121i receives a blur circle Y1 of the size of a pixel area formed on the first sensor 12 by the green monochromatic light G, and the first pixel 121j receives a blur circle Y2 of the size of a pixel area formed on the first sensor 12. That is, the energy received by the first pixel 121i and the first pixel 121j is the same, and the energy value N corresponding to the blue monochromatic light G received by the first pixel 121j is also N corresponding to the green monochromatic light G received by the first pixel 121i. When the color target moves to the second position, light is irradiated to the color target, and blue monochromatic light B is reflected from the blue area, and green monochromatic light G is reflected from the green area. Since the first dynamic visual sensor device 1 does not move, but the color target moves, the blue monochromatic light B enters the first dynamic visual sensor device 1. At this time, the first pixel 121j and the first pixel 121j both receive the blur circle Y2 of the size of one pixel area formed by the blue monochromatic light B on the first sensor 12, that is, the first pixel 121i and the first pixel 121j both receive the energy value N corresponding to the blue monochromatic light G.

Understandably, the energy at the junction of the blue monochromatic light and the green monochromatic light (i.e., the energy received by the first pixel 121i and the first pixel 121j when in the first position) is consistent with the energy at the center of the blue monochromatic light (i.e., the energy received by the first pixel 121i and the first pixel 121j when in the second position) or the center of the green monochromatic light, and is N. In the process of the color target moving from the first position to the second position, the energy of the first pixel 121i and the first pixel 121j does not change, and a positive event signal or a negative event signal cannot be generated, and further, the processor cannot generate one-dimensional spectrum information of light or dark, and recognize the change of the intersection area of different colors of the color target, so that the dynamically changing color target cannot be recognized. As shown in (I) of FIG. 5 , when the target has multiple colors with gradients, the shooting surface of the first dynamic visual sensor device 1 has multiple color gradients, such as red, light, green, light blue, dark blue, pink and red. At this time, the brightness and darkness of the display screen of the first dynamic visual sensor device 1 cannot accurately distinguish the 7 color areas. As shown in (II) of FIG. 5 , when the target has three colors of red, green and blue, the shooting surface of the first dynamic visual sensor device 1 has three colors of red, green and blue. At this time, the display screen of the first dynamic visual sensor device 1 has only one gray level, and the 3 color areas cannot be accurately distinguished.

In view of this, this application provides a dynamic vision sensing device, a dynamic vision camera, and a dynamic vision sensing method, which can more accurately identify the dynamically changing color target.

Please refer to FIG. 6, which is a dynamic vision camera 1000 of an embodiment of the present application. The dynamic vision camera 1000 includes a second dynamic vision sensor device 3 and a processor 4. The second dynamic vision sensor device 3 is used to output an event signal according to the complex light reflected by the color target to be detected, and send the output event signal to the processor 4. The processor 4 is used to generate spectral information according to the event signal, generate an image of the color target to be detected according to the spectral information and the position information of the color target to be detected, and generate a dynamic change video of the color target to be detected according to the image of the color target to be detected. Among them, the processor 4 generates bright spectral information according to the positive event signal and generates dark spectral information according to the negative event signal.

Please refer to FIG. 7, which is a schematic diagram of the structure of the dynamic vision sensing device of the embodiment of the present application, that is, a schematic diagram of the structure of the second dynamic vision sensing device. The second dynamic vision sensing device 3 includes a dispersion lens 31 and a second sensor 32. The second sensor 32 includes a plurality of second pixels 321. The dispersion lens 31 is used to disperse the incident complex light into a plurality of monochromatic lights of different colors. The dispersion lens 31 and the second sensor 32 are arranged in sequence along the incident optical axis 2 of the complex light, so that different monochromatic lights form blur circles of different sizes on the second sensor 32. The area size of the blur circle of each monochromatic light is greater than or equal to the area size of the second pixel 321. For example, the blur circle of blue monochromatic light has an area size of one second pixel 321, the blur circle of green monochromatic light has an area size of four second pixels 321, and the blur circle of green monochromatic light has an area size of nine second pixels 321. The area size of the second pixel 321 can be obtained from the parameters of the second sensor 32. In some embodiments, referring to FIG. 8 , the dispersion lens 31 includes a second prism 311. In some embodiments, please refer to FIG. 9 , the dispersion lens 31 includes a second prism 311, a second concave lens 312 and a third prism 313, wherein the second prism 311, the second concave lens 312 and the third prism 313 are sequentially arranged along the incident optical axis 2 of the incident complex light.

Please refer to Figure 10, which is an application scenario diagram of the second dynamic vision sensing device of the present application. In the application scenario, when the second dynamic vision sensing device 3 (not shown in Figure 10) identifies a color target, the complex light reflected by the color intersection area of the color target enters the second dynamic vision sensing device 3. The complex light includes three monochromatic lights, namely red (Red, R), green (Green, G) and blue (Blud, B). The complex light passes through the dispersion lens 31 along the incident light axis 2. The dispersion lens 31 converges the blue monochromatic light at position a to form an image point of the blue monochromatic light at position a, converges the green monochromatic light at position b to form an image point of the green monochromatic light at position b, and converges the red monochromatic light at position c to form an image point of the red monochromatic light at position c. That is, the dispersion lens 31 forms axial chromatic aberration with multiple monochromatic lights, so that monochromatic lights of different colors of the complex light form blur circles of corresponding sizes on the second sensor 32, that is, the energy of monochromatic lights of different colors of the complex light is distributed to different numbers of second pixels 321 (not shown in FIG. 10 ) of the sensor.

It can be understood that the size of the blur circle is determined by the wavelength of the monochromatic light. The wavelengths of monochromatic lights of different colors are different. Therefore, in the same second dynamic vision sensor device 3, the dispersion lens 31 disperses the incident complex light into a variety of monochromatic lights of different colors. After the second sensor 32 is set on the incident light axis 2, the monochromatic lights of different colors form blur circles of corresponding sizes on the receiving surface of the second sensor 32.

Please refer to Figure 7 again. The second sensor 32 is used to output an event signal according to the change in the number of types of blur circles, wherein the types of blur circles are divided according to the area size of the blur circles. For example, a blur circle with an area size of 1 second pixel 321 is one type, and a blur circle with an area size of 4 second pixels 321 is another type.

It can be understood that the second dynamic visual sensing device 3 includes a dispersion lens 31 and a second sensor 32. The dispersion lens 31 and the second sensor 32 are arranged in sequence along the incident optical axis of the complex light, so that the multiple different colors of monochromatic light dispersed by the dispersion lens 31 can form blur circles of different sizes on the sensor. Blur circles of the same size are one type of blur circle. When the color target moves, the color target has a color intersection area and a single color area. The number of blur circle types received by the second sensor 32 for the complex light reflected from the color intersection area is different from the number of blur circle types for the light reflected from the single color area, that is, the number of blur circle types received will change. The second sensor 32 outputs an event signal according to the change in the number of blur circle types, thereby identifying the dynamic changes of the color target.

In some embodiments, please refer to FIG. 7 again, the second sensor 32 includes a plurality of second pixels 321, and the second pixels 321 are used to obtain energy change information according to the change in the number of types of blur circles, and output event signals according to the energy change information.

In one example, as shown in FIG. 11 , FIG. 11 (I) shows that the energy of the blue monochromatic light of the complex light in the application scene of FIG. 10 is distributed to one second pixel 321, that is, the blue monochromatic light B forms a blur circle with an area size of one second pixel 321 on the second sensor 32, and FIG. 11 (II) shows that the energy of the green monochromatic light of the complex light is distributed to four adjacent second pixels 321 (because FIG. 11 shows a two-dimensional image of the application scene, only the adjacent pixels 321 are shown). 11 (III) shows that the energy of the red monochromatic light of the complex light is distributed to the 9 adjacent second pixels 321 (because Figure 11 shows the two-dimensional image of the application scene, it only shows the 3 adjacent second pixels 321), that is, the red monochromatic light forms a blur circle with an area size of 9 pixels on the second sensor 32. Therefore, the energy of monochromatic light of different colors received by each second pixel 321 of the second sensor 32 is different. For example, if the energy of monochromatic light is N, the energy of blue monochromatic light received by a single second pixel 321 is N, the energy of green monochromatic light received is N/4, and the energy of red monochromatic light received is N/9.

When the color target moves, the type of monochromatic light received by the same second pixel 321 will change, that is, the number of types of blur circles received will also change. As shown in FIG12 , the second sensor 32 of the second dynamic vision sensing device 3 (not shown in FIG12 ) includes a second pixel 321 located at position i (hereinafter referred to as the second pixel 321i) and a second pixel 321 located at position j (hereinafter referred to as the second pixel 321j). The positive threshold value of the second pixel 321i is N/3, and the negative threshold value is N/9. The positive threshold value of the second pixel 321j is N/2, and the negative threshold value is N/10. The color target to be measured has a blue area and a green area. When the color target to be measured is at the first position, light is irradiated to the color target to be measured, and complex light is reflected from the color intersection area of the color target to be measured. Specifically, blue monochromatic light B is reflected from the blue area, and green monochromatic light G is reflected from the green area. The blue monochromatic light B and the green monochromatic light G form complex light. The complex light enters the second sensor 32. The second pixel 321i of the second sensor 32 receives the blur circle of the green monochromatic light G, that is, receives the energy N/4 corresponding to the blur circle of the green monochromatic light G. The second pixel 321j receives the blur circle of the green monochromatic light G and the blur circle of the blue monochromatic light B, that is, receives the energy N/4 corresponding to the blur circle of the green monochromatic light G and the energy N corresponding to the blur circle of the blue monochromatic light B. The second pixel 321j receives a total of two blur circles and obtains energy 5N/4.

When the color target moves to the second position, light is irradiated to the color target, and the monochromatic light is reflected from the single color area of the color target. Specifically, the blue monochromatic light B is reflected from the blue area. Therefore, only the blue monochromatic light B enters the second dynamic vision sensor device 3. At this time, the second pixel 321i and the second pixel 321j both receive the blur circle of the blue monochromatic light B, and the received energy is N.

When the color target moves from the first position to the second position, the second pixel 321i increases from energy N/4 to N. During the increasing process, when the energy is greater than the positive threshold N/3, the second pixel 321i outputs a positive event signal. The second pixel 321j decreases from energy 5N/4 to N/9. During the decreasing process, when the energy is less than the positive threshold N/10, the second pixel 321j outputs a negative event signal.

It can be understood that the energy at the intersection of the blur circle of blue monochromatic light and the blur circle of green monochromatic light (that is, the energy received by the second pixel 321i and the second pixel 321j when in the first position) is inconsistent with the energy at the center of the blur circle of blue monochromatic light (that is, the energy received by the second pixel 321i and the second pixel 321j when in the second position) or the energy at the center of the blur circle of green monochromatic light. In the process of the color target moving from the first position to the second position, the energy received by the second pixel 321i and the second pixel 321j changes, so that an event signal can be generated according to the energy change information, and the event signal can be output according to the threshold. Then, the processor 4 generates a data cube according to the one-dimensional spectral information of the positive event signal or the negative event signal and the two-dimensional position information of the detected target, generates a spectrum curve of the color detected target according to the data cube, generates an image of the detected target according to the spectrum curve, and finally generates a video of the dynamically changing detected target according to the continuous images, wherein the bright one-dimensional spectral information is generated according to the positive event signal, and the dark one-dimensional spectral information is generated according to the negative event signal.

Understandably, since the size of the blur circle corresponding to each color of monochromatic light is different, the energy at the junction of different colors of monochromatic light is also different from the energy at the center of the monochromatic light. For example, as shown in the example of Figure 12, the energy of the complex light reflected by the color intersection area received by the second pixel 321 is higher than the energy of the blue monochromatic light reflected by the blue area. Therefore, when the color target moves from the first position to the second position, the energy received by the second pixel 321 gradually decreases, and the output event signal changes from a positive event signal to a negative event signal. The processor 4 generates spectrum information from light to dark according to the change from the positive event signal to the negative event signal, and then identifies the dynamically changing color target.

Understandably, the color target has a color intersection area and a single color area. The number of blur circles of complex light reflected by the color intersection area received by the second pixel 321 is different from the number of blur circles of complex light reflected by the single color area. When the color target moves, the number of blur circles received by the second pixel 321 will change. The change in the number of blur circles will lead to energy change information. The event signal is output according to the energy change information, thereby identifying the dynamic change of the color target.

The second pixel 321 is also used to obtain energy that increases with a positive gradient when the number of blur circle types increases; and to obtain energy that decreases with a negative gradient when the number of blur circle types decreases. When the energy increases with a positive gradient, a positive event signal is generated, and when the energy is greater than a positive threshold, a positive event signal is output; when the energy decreases with a negative gradient, a negative event signal is generated, and when the decreasing energy is less than a negative threshold, a negative event signal is output.

In an example, please refer to FIG. 13, which shows the event signal generation and output process of a second pixel 321. The upper part shows the change of the logarithm of the light intensity log(x, t) (Log Intensity) of the second pixel 321, and the lower part shows the event signal generation and output process obtained by mapping the change of the logarithm of the light intensity log(x, t) (Log Intensity). x represents the two-dimensional position information of the target to be detected, t represents time, the vertical coordinate represents energy, and the horizontal coordinate represents time. FIG. 13 shows that after the second pixel 321 receives dynamic irradiation of multiple types of monochromatic light, when the types of monochromatic light received increase, that is, the types of blur circles increase, the energy increases in a positive gradient manner, and the second pixel 321 generates a positive event signal. When the increasing energy is greater than the positive threshold value, the second pixel 321 outputs a positive event signal. If the types of monochromatic light received decrease, that is, the types of blur circles decrease, the energy decreases in a negative gradient manner, and the second pixel 321 generates an event signal, when the decreasing energy is less than the negative threshold value, the second pixel 321 generates and outputs a negative event signal. Next, the processor 4 generates bright one-dimensional spectral information according to the positive event signal and generates dark one-dimensional spectral information according to the negative event signal. The bright and dark one-dimensional spectral information are combined with the two-dimensional position information of the target to be detected to generate a video of the target to be detected that changes dynamically. A partial screenshot of the video is shown in Figure 14.

Understandably, when the color target moves, the number of blur circles received by a second pixel 321 will change, so that the energy will also change, thereby generating continuous positive event signals or negative event signals, or alternately generating positive event signals or negative event signals, so that the processor 4 processes the continuously generated event signals into a bright and dynamically changing spectral curve of the target.

It can be understood that the second dynamic vision sensing device 3 of the embodiment of the present application is equipped with a dispersion lens 31, which can disperse the complex light incident into the second dynamic vision sensing device 3 into different monochromatic lights. The dispersion lens 31 and the second sensor 32 are sequentially arranged along the incident light axis 2 of the incident complex light according to a preset distance, so that the imaging points formed by the monochromatic lights of different colors in the direction of the incident light axis 2 are located at different positions, that is, axial chromatic aberration is formed between the monochromatic lights. Since the monochromatic lights of different colors have axial chromatic aberration, the imaging points located at the incident light axis 2 are located at different positions. The second pixel 321 of the second sensor 32 in the direction of the light axis 2 receives different colors of monochromatic light with different sizes of corresponding blur circles. When the color target moves, the blur circles of different sizes will move with the corresponding monochromatic light, and the types of blur circles received by the second pixel 321 will increase or decrease. For example, when the color target moves to the second pixel 321 to receive the complex light reflected by the color intersection area, the types of blur circles received by the second pixel 321 will increase, resulting in an increase in the received energy. When the color target moves to the second pixel 321 to receive the monochromatic light reflected by a non-monochromatic area, the types of blur circles received by the second pixel 321 will decrease, resulting in a decrease in the received energy. Next, the second pixel 321 generates a positive event signal according to the increasing energy, generates a negative event signal according to the decreasing energy, and determines whether to output the event signal according to the threshold value. In this way, the second pixel 321 can identify the changes of monochromatic light of different colors according to the types of dynamically changing blur circles, so that the second dynamic visual sensor device 3 can identify the dynamically changing color target.

This application also provides a dynamic vision sensing method, which is applied to a dynamic vision sensing device. The dynamic vision sensing device includes a dispersion lens and a sensor. The method includes the following steps:

Step S101: The complex light reflected by the color target is obtained by a dispersion lens, and the complex light is dispersed into a variety of monochromatic lights of different colors. Monochromatic lights of different colors form blur circles of different sizes on the sensor.

Step S102: Obtain information on the type and quantity changes of the blur circle based on the area size of the blur circle.

Step S103: Output event signal based on the information on the change in the number of types of fuzzy circles.

A person skilled in the art can realize that the units and algorithm steps of each example described in the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether such functions are performed by hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. A person skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of this application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. Note that the above are only the preferred embodiments of this application and the technical principles used.

Those skilled in the art will understand that this application is not limited to the specific embodiments herein, and that they can make various obvious changes, readjustments and substitutions without departing from the scope of protection of this application. Therefore, although this application is described in more detail through the above embodiments, this application is not limited to the above embodiments, but may also include more other equivalent embodiments without departing from the concept of this application, all of which are within the scope of protection of this application.

3: Second dynamic visual sensor device

2: Light axis

31: Dispersion lens

32: Second sensor

321: Second pixel

Claims (10)

A dynamic visual sensor device, the improvement of which is that the dynamic visual sensor device includes a dispersion lens and a sensor, the dispersion lens is used to disperse the incident complex light into a plurality of monochromatic lights of different colors, the complex light is the reflected light of the color target to be measured, and the monochromatic lights of different colors form blur circles of different sizes on the sensor; the sensor is used to output event signals according to the type and quantity change information of the blur circle, thereby identifying the dynamic change of the color target to be measured, wherein the type of the blur circle is obtained according to the area size of the blur circle. A dynamic visual sensing device as described in claim 1, wherein the sensor further includes pixels, and the pixels are used to obtain energy change information based on the type and quantity change information of the blur circle, and output an event signal based on the energy change information. The dynamic visual sensor device as described in claim 2, wherein the pixel is also used to obtain the energy increasing with a positive gradient when the number of types of the blur circle increases; and to obtain the energy decreasing with a negative gradient when the number of types of the blur circle decreases. A dynamic visual sensor device as described in claim 3, wherein the pixel is also used to generate a positive event signal when the energy increases with the positive gradient, and output the positive event signal when the energy is greater than a positive threshold. A dynamic visual sensor device as described in claim 3, wherein the pixel is also used to generate a negative event signal when the energy decreases with the negative gradient, and output the negative event signal when the decreasing energy is less than a negative threshold. A dynamic visual sensor device as described in claim 2, wherein the area size of the blur circle is greater than or equal to the area size of the pixel. A dynamic vision camera, the improvement of which is that the dynamic vision camera comprises a processor and a dynamic vision sensor device as described in any one of claims 1 to 6, the dynamic vision sensor device is used to output an event signal according to the reflected complex light of the color target; the processor is used to generate spectral information according to the event signal, and to generate an image of the color target according to the spectral information and the position information of the color target. A dynamic vision camera as described in claim 7, wherein the processor is also used to generate bright spectral information based on positive event signals and to generate dark spectral information based on negative event signals. A dynamic vision camera as described in claim 8, wherein the processor is also used to generate a dynamically changing video of the color target based on the image of the color target. A dynamic vision sensing method is applied to a dynamic vision sensing device. The improvement is that the dynamic vision sensing device includes a dispersion lens and a sensor. The method includes: obtaining complex light reflected by a color target through the dispersion lens, and dispersing the complex light into a plurality of monochromatic lights of different colors, wherein the monochromatic lights of different colors form blur circles of different sizes on the sensor; obtaining type and quantity change information of the blur circle according to the size of the area of the blur circle; outputting an event signal according to the type and quantity change information of the blur circle, thereby identifying the dynamic change of the color target.