A small-sized panoramic scanning visual sensor inspired by the fly´s compound eye

We investigate the feasibility of the design of a small artificial compound eye that comprises micro-optical, micro-mechanical components and additional electronics for visual processing. The hybrid integration of this “mini-sensor” addresses important issues such as mechanic scale-effect, assembly of small parts and functional testing. The use of retinal scanning for the perception of visual motion is highlighted in the design of a small-sized horizontal array with a scanning retina of 2×30 photoreceptor elements (R_eye=30 mm). The scanning motion is achieved by actuating the photodiode arrays with a piezoelectric bimorph cantilever beam coupled to a plate spring. The mini-compound eye, equipped with analogue motion detecting circuits, is able to guide the steps of a small mobile platform and perform multi-task visual processing for obstacle avoidance, tracking and pursuit of visual target