CN105547236B - A Bionic Orientation Analyzer - Google Patents

Abstract

The invention discloses a bionic direction analyzer, which comprises a direction information acquisition device and a data processing module; the direction information acquisition device is used for detecting the polarization characteristic of skylight and converting an optical signal into an electric signal; and the data processing module receives the electric signal transmitted by the direction information acquisition device, calculates and processes the electric signal and acquires the direction information. In the bionic direction analyzer, each nano grating and the corresponding photosensitive pixel array below the nano grating form a polarization sensitive unit, so that polarization state detection and photoelectric conversion of incident skylight are realized. The invention utilizes the relatively stable distribution mode of the polarization state of the sky visible light in the atmosphere to derive and solve the direction information through the direction information acquisition device and the data processing module.

Description

A Bionic Orientation Analyzer

technical field

The invention relates to the field of direction analysis devices, in particular to a bionic direction analyzer.

Background technique

Biologists have discovered that after billions of years of evolution, a variety of insects have evolved the ability to perceive the polarization of sky light and use it for navigation, which can help them complete behaviors such as foraging and homing. Biomorphological experiments have shown that some special ommatidia in the dorsal rim area (DRA) of compound eyes are very sensitive to polarized light in insects with polarization navigation ability. These special ommatidia are arranged regularly, and the spatial arrangement of the microvilli in the nerve sensory rods has certain characteristics. It is these special ommatidia that sense the polarization properties of sky light and use it for navigation.

The current direction analysis system mainly includes GPS, geomagnetic compass, inertial gyroscope and so on. Among them, the GPS system is widely used, and it is a global, continuous real-time, high-precision navigation method, but its navigation information is controlled by people, so the signal is easily interfered, attacked or even destroyed; the geomagnetic compass is simple in structure, small in size and light in weight, but Its accuracy is low; the inertial gyroscope is free from interference and has strong concealment, but there are accumulated errors in long-term use.

Contents of the invention

A bionic direction analyzer disclosed in the present invention: includes a direction information acquisition device and a data processing module;

The direction information acquisition device is used to detect the polarization characteristics of sky light and convert the optical signal into an electrical signal; the data processing module receives the electrical signal transmitted by the direction information acquisition device and performs calculation and processing on the electrical signal to obtain direction information.

The direction information acquisition device includes a polarization-sensitive functional device and a light-sensing functional device.

The polarization-sensitive functional device is a multi-directional nano-grating polarizer, and the polarization-sensitive functional device imitates the microvilli structure of the ommatidium in the back edge region of the compound eye of an insect: the polarization-sensitive functional device includes three pairs of nano-gratings, the main polarization directions of which are respectively are 0°, 60° and 120°, and the polarization axes of each pair of nanogratings are perpendicular to each other.

The photoreceptor functional device is a CMOS photosensitive pixel array that converts light signals into electrical signals, and the device imitates the photoreceptor structure of the ommatidium in the back edge area of the compound eyes of insects.

The photosensitive pixel array in the photosensitive functional device converts the polarized light signal detected by the nano-grating into an electrical signal, and the intensity of the electrical signal is related to the incident light intensity and polarization characteristics.

The data processing module uses the established polarization visual information hierarchical clustering model to obtain direction information when processing and calculating the collected electrical signal with sky light polarization information.

The data processing module imitates the process of polarization-sensitive neurons in the visual lobe of insects processing the electric vector information collected by the photoreceptors in the dorsal edge region, and establishes a hierarchical clustering model of polarization visual information, which is divided into three levels based on different operating objects. The first level : Based on the difference in direction of the nano-grating in the polarization-sensitive functional device, the photosensitive pixel array is divided into six clusters, that is, six polarization-sensitive units. Statistical screening and mean filtering are performed on several photosensitive pixels in the polarization-sensitive unit to obtain the polarization-sensitive The output signal of the unit; the second layer: based on the antagonism of the direction of the nano-grating in the polarization-sensitive unit, the polarization-sensitive unit can be divided into three clusters, that is, three pairs of opposite polarization-sensitive units; the third layer, output by the opposite polarization-sensitive unit Taking the signal difference as the criterion, the opposite polarization-sensitive units are divided into seven clusters to obtain the direction angle information.

The above-mentioned processing technology of a direction information acquisition device includes the following steps: using a standard CMOS process to fabricate a photosensitive pixel array, and forming a photosensitive region and source and drain through isolation, well engineering, channel engineering, gate oxidation process and ion implantation The side wall is formed after the metal wiring, and the surface passivation is carried out after the metal wiring to complete the production of the photoreceptor functional device; the polarization-sensitive functional device is integrated on the passivation layer of the photoreceptor functional device, and the manufacturing process adopts electron beam lithography, pole Ultraviolet projection lithography, interference lithography or nanoimprinting, and finally leads to complete electrical connection and packaging.

The bionic direction analyzer disclosed by the invention has the advantages of low cost, simple structure and high precision. Strong robustness. The invention utilizes the relatively stable distribution mode of the polarization state of visible light in the atmosphere in the atmosphere, and deduces and calculates the direction information through a direction information acquisition device and a data processing module.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in this application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the microvilli array structure schematic diagram of polarization-sensitive ommatidia in insect compound eye dorsal edge region in the present invention;

Fig. 2 is the structural representation of bionic direction analyzer of the present invention;

Fig. 3 is the structural representation of bionic direction analyzer of the present invention;

Fig. 4 is a working flowchart of the polarization-sensitive functional device in the present invention.

detailed description

In order to make the technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention:

A bionic direction analyzer as shown in FIGS. 1-3 includes a direction information acquisition device 1 and a data processing module 2 . The direction information acquisition device 1 is used to detect the polarization characteristics of sky light and convert the optical signal into an electrical signal; the data processing module 2 receives the electrical signal transmitted by the direction information acquisition device and performs calculation processing on the electrical signal to obtain direction information.

The direction information acquisition device 1 includes a polarization sensitive functional device 11 and a photosensitive functional device 12 .

The polarization-sensitive functional device 11 is a multi-directional nano-grating polarizer, and the polarization-sensitive functional device 11 imitates the microvilli structure of the ommatidium in the back edge region of the compound eye of an insect: the polarization-sensitive functional device 11 includes three pairs of nano-gratings, the main The polarization directions are 0°, 60°, and 120°, respectively. Since the ommatidia in the dorsal limbic (DRA) region of some insect compound eyes are sensitive to polarized light, the microvilli of these ommatidia are perpendicular to each other, so the polarization of each pair of nanogratings The main axes are perpendicular to each other.

Each nano-grating in the polarization-sensitive functional device 11 and the corresponding photosensitive pixel array below constitute a polarization-sensitive unit, which realizes polarization state detection and photoelectric conversion of incident sky light. In the polarization sensitive unit of the present invention, the electrical signal output by the photosensitive pixel is used as the output signal of the polarization sensitive unit after signal processing (noise signal filtering and least square method averaging); even if the photosensitive pixel array in the polarization sensitive unit Individual pixels are in an abnormal working state (such as failure or being blocked), and the output signal of the polarization-sensitive unit can be calculated by using the output electrical signals of other photosensitive pixels of the polarization-sensitive unit. The bionic direction analyzer can still work normally, and the bionic direction analysis The device has good robustness.

The photoreceptor function device 12 is a CMOS photosensitive pixel array that converts light signals into electrical signals, and this device imitates the photoreceptor structure of the ommatidium in the DRA region of the compound eye of an insect.

The photosensitive pixel array in the photosensitive functional device 12 converts the polarized light signal detected by the nano-grating into an electrical signal, and the intensity of the electrical signal is related to the incident light intensity and polarization characteristics.

Electrical signal I(θ)=kI[1+dcos(2θ-2α)], where I is the incident light intensity and the polarization characteristic is represented by α.

The data processing module 2 uses the established polarization visual information hierarchical clustering model to obtain direction information when processing and calculating the collected electrical signals with sky light polarization information. The data processing module 2 can use the RS232 serial port line to communicate with the outside world and send polarization direction information.

When the data processing module 2 processes and calculates the collected electrical signal with sky light polarization information, it uses the established polarization visual information hierarchical clustering model to obtain direction information:

The data processing module 2 functionally imitates the process of the polarization-sensitive neurons in the insect optic lobe processing the electric vector information collected by the photoreceptors in the DRA region, and establishes a hierarchical clustering model of polarization visual information to operate on different division levels of objects. According to specific clustering criteria, the operation objects are divided into several clusters, and the hierarchical clustering process is shown in Figure 4.

The first layer: based on the difference in direction of the nano-grating in the polarization-sensitive functional device 11, the photosensitive pixel array can be divided into six clusters (ie, six polarization-sensitive units). Statistical screening and mean value filtering are performed on several photosensitive pixels in the polarization sensitive unit. Firstly, statistical screening is performed on several photosensitive pixels in the polarization sensitive unit to remove singular values such as noise points; then, mean value filtering is performed on effective photosensitive pixels to obtain the output signal of the polarization sensitive unit.

When the intensity of incident sky light is I, the degree of polarization is d, the angle between the 0° reference direction of the bionic direction analyzer and the sun meridian is θ, the polarization axis of the nano-grating in the polarization sensitive unit and the 0° reference direction of the bionic direction analyzer The included angle α, k is a constant, and the output signal of the polarization sensitive unit can be expressed as:

I(θ)=kI[1+dcos(2θ-2α)] (1)

The second layer: the polarization-sensitive unit can be divided into three clusters based on the opposite direction of the nano-grating in the polarization-sensitive unit. The polarization axes of the nano-gratings of a pair of polarization-sensitive units are perpendicular to each other to form opposite polarization-sensitive units.

The output signal of the opposite polarization sensitive unit is:

For the convenience of calculation, the following equivalent transformation is done:

The third layer: based on the difference of the output signals of the opposite polarization sensitive units, the opposite polarization sensitive units are divided into 7 small clusters, and the judgment basis is shown in the following table:

For a certain polarization sensitive unit, its output signal is cosinely related to the polarization azimuth angle of sky light; when its output signal is close to the peak value, the sensitivity of the polarization sensitive unit to the polarization azimuth angle decreases, if the polarization sensitive unit participates in the polarization The calculation of the azimuth angle and the degree of polarization will reduce the detection accuracy of the direction analyzer. Therefore, based on this judgment, the polarization azimuth and degree of polarization of sky light are calculated.

The direction angle information is obtained through the above polarization visual information hierarchical clustering model, that is, the angle between the 0° reference direction of the bionic direction analyzer and the sun meridian.

A processing method for a direction information acquisition device, comprising the following steps: using a standard CMOS process to manufacture a photosensitive pixel array, and forming a photosensitive region and a source and drain region after isolation, well engineering, channel engineering, gate oxidation process and ion implantation side walls, and passivate the surface after metal wiring to complete the production of the photoreceptor functional device 12; integrate and manufacture the polarization-sensitive functional device 11 on the passivation layer of the photoreceptor functional device 12, and the manufacturing process adopts electron beam lithography, pole Ultraviolet projection lithography, interference lithography or nanoimprinting, and finally leads to complete electrical connection and packaging.

In the integration process of the photosensitive functional device 12 and the polarization-sensitive functional device 11, it is required that multiple nano-gratings of the polarization-sensitive functional device 11 are in the photosensitive pixel array area of the photosensitive functional device 12, and the pixel-level alignment accuracy is not required, reducing the The requirements for process alignment accuracy are met, and the applicability is enhanced.

In the bionic direction analyzer of the present invention, each nano-grating and the corresponding photosensitive pixel array below constitute a polarization-sensitive unit, which realizes polarization state detection and photoelectric conversion of incident sky light. In the polarization-sensitive unit, the electrical signal output by the photosensitive pixel is processed as the output signal of the polarization-sensitive unit after signal processing (noise signal filtering and least square method optimization); even if individual pixels of the photosensitive pixel array in the polarization-sensitive unit are abnormal In the working state (such as failure or occlusion), the output signal of the polarization-sensitive unit can be calculated by using the output electrical signals of other photosensitive pixels of the polarization-sensitive unit, and the bionic direction analyzer can still work normally, and the bionic direction analyzer has good robustness .

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (2)

1. a kind of bionical Orientation device, it is characterised in that：Including directional information acquisition device, data processing module；

The directional information acquisition device is used to detect the polarization characteristic of skylight, converts optical signals to electric signal；The number The electric signal for receiving the transmission of direction information acquirer part according to processing module calculate handling to the electric signal obtains directional information；

The directional information acquisition device includes Polarization-Sensitive function element and photoreception function element；

The Polarization-Sensitive function element is multi-direction nanometer grating polarizer, and the Polarization-Sensitive function element imitates insect and answered The microvillus structure of ommatidium in eye back edge region, the Polarization-Sensitive function element includes three pairs of nanometer gratings, and it leads inclined The direction that shakes is respectively 0 °, 60 ° and 120 °, and the polarization principal axis of each pair nanometer grating is mutually perpendicular to；

The photoreception function element is the CMOS photosensitive pixel arrays for converting optical signals to electric signal, and the device imitates insect The photoreceptor structure of compound eye back edge region ommatidium；

The polarized light signal that nanometer grating is detected is converted to electric signal by photosensitive pixel array in photoreception function element, described The intensity of electric signal is related to incident intensity and polarization characteristic；

The data processing module is carried out when processing is calculated using building to collecting the electric signal with skylight polarization information Vertical polarization vision level of information Clustering Model obtains directional information：

The data processing module imitates Polarization-Sensitive neuron processing back edge region photoreceptor collection in insect optic lobe Electric vector information process, set up polarization vision level of information Clustering Model, with three levels of different demarcation of operation object, First layer：Using nanometer grating direction otherness in Polarization-Sensitive function element as criterion, photosensitive pixel array is divided into six clusters, i.e., Six Polarization-Sensitive units, carry out statistics screening and mean filter to some photosensitive pixels in Polarization-Sensitive unit, obtain this inclined Shake the output signal of sensing unit；The second layer：It is Polarization-Sensitive as criterion using nanometer grating direction antagonism in Polarization-Sensitive unit Unit is divided into three clusters, i.e., the three pairs Polarization-Sensitive units of opposition；Third layer, with the Polarization-Sensitive element output signal otherness that opposes For criterion, the Polarization-Sensitive dividing elements that will oppose are seven clusters, obtain orientation angle information.

2. a kind of processing technology of bionical Orientation device as claimed in claim 1, it is characterised in that：Comprise the following steps： Photosensitive pixel array is made using standard CMOS process, by isolation, trap engineering, channel engineering, gate oxidation process and ion Injection, which is formed, forms side wall after photosensitive area and source-drain area, and carries out surface passivation after metal line, completes photoreception effector The making of part；The integrated Polarization-Sensitive function element of making on the passivation layer of photoreception function element, manufacture craft uses electronics Beam photoetching, extreme ultra-violet lithography, interference lithography or nano impression light, last lead complete to be electrically connected and encapsulate.