Depth data measuring head, computing device and measurement method

1 . A depth data computing device, comprising:

a structured light projection apparatus, for projecting, under the drive of a driving device and at different projection angles, an infrared beam having a texture to a measured space so as to form different textures on an object to be measured in the measured space; and

first and second infrared image sensors respectively arranged on both sides of the structured light projection apparatus, the first and second infrared image sensors having a predetermined relative spatial position relationship and performing at least two imaging operations on the measured space so as to obtain at least two sets of images having different texture distributions, wherein the at least two sets of images are used for obtaining single-measurement depth data of the object to be measured; and

a processor, configured to acquire the at least two sets of images, determine the depth data of the texture in each set of images according to the predetermined relative spatial position relationship between the first and second image sensors, and fuse the depth data determined based on the at least two sets of images to obtain new depth data as single-measurement depth data of the object to be measured,

wherein each of the first and second infrared image sensors comprises at least a first sub-image sensor and a second sub-image sensor that share at least part of an optical path, wherein the first sub-image sensor from the first infrared image sensor and the first sub-image sensor from the second infrared image sensor together form a first set of binoculars, and the second sub-image sensor from the first infrared image sensor and the second sub-image sensor from the second infrared image sensor together form a second set of binoculars,

wherein the computing device comprising:

a controller, configured to make the first set of binoculars to perform one imaging operation of the at least two imaging operations, and the second set of binoculars to perform another imaging operation of the at least two imaging operations, sequentially at a first interval, and the first interval being smaller than a minimum frame imaging interval of the sub-image sensors.

2 . The computing device according to claim 1 , wherein the structured light projection apparatus comprises:

a light source device, for generating and emitting the infrared beam;

the driving device, for driving the light source device to project the infrared beam to the measured space at different projection angles.

3 . The computing device according to claim 1 , wherein the structured light projection apparatus comprises:

a light source device, for generating and emitting the infrared beam;

a steering projector, comprising:

a reflecting device arranged on the outgoing path of the infrared beam, for reflecting the incident infrared beam so that the infrared beam can be emitted;

the driving device connected to the reflecting device, for changing the angle of the reflecting device relative to the incident infrared beam, so as to change the outgoing direction of the infrared beam.

4 . The computing device according to claim 3 , wherein the steering projector is a mechanical vibrating mirror, and the reflecting device reciprocates axially; or

the steering projector is a mechanical rotating mirror, and the reflecting device moves in one direction along the axial direction.

5 . The computing device according to claim 1 , wherein the drive device remains stationary for a predetermined window period during a continuous movement.

6 . The computing device according to claim 1 , wherein the light source device comprises:

a laser generator, for emitting the infrared beam;

a diffractive optical element arranged on the outgoing optical path of the infrared beam, for diffracting the incident infrared beam and modulate it into discrete spots with specific projection rules; or

a flood light, for generating flood light; and

a mask arranged on the flood light, for converting the flood light into lights spots with a specific projection coding.

7 . The computing device according to claim 1 , further comprising:

a controller, configured to control the light source device to light up synchronously when the first and second infrared image sensors are exposed.

8 . The computing device according to claim 1 , wherein the controller is configured to:

make each sub-image sensor perform its next frame imaging at a second interval, which is not smaller than the minimum frame imaging interval of the sub-image sensor.

9 . The computing device according to claim 1 , wherein each of the first and second infrared image sensors comprises:

lens assembly for receiving incident return structured light;

an optical path conversion device, for changing the optical path to deliver the incident return structured light to the first sub-image sensor and the second sub-image sensor;

the first sub-image sensor and the second sub-image sensor, for imaging different patterns at different times.

10 . The computing device according to claim 9 , wherein the optical path conversion device comprises:

a beam splitting device, for splitting the incident return structured light into at least a first beam and a second beam,

wherein the first sub-image sensor is used for imaging the first beam;

the second sub-image sensor is used for imaging the second beams corresponding to different patterns of the return structured light.

11 . The computing device according to claim 9 , wherein the optical path conversion device comprises:

an optical path conversion device for delivering the incident return structured light to at least a first sub-path and a second sub-path,

wherein, the first sub-image sensor is used for imaging the return structured light on the first sub-path;

the second sub-image sensor is used for imaging the returned structured light corresponding to different patterns on the second sub-path.

12 . The computing device according to claim 9 , wherein the first sub-image sensor and the second sub-image sensor are the same distance from a beam splitting area of the beam splitting device or an optical path conversion area of the optical path conversion device.

13 . The computing device according to claim 9 , wherein

the first and second image infrared sensors each also comprises:

a visible light image sensor, for imaging incident structured light, wherein the visible light image sensor shares at least part of the optical path with the first and/or the second sub-image sensor.

14 . The computing device according to claim 1 , wherein, based on the number of different image sets required for a single measurement of depth data, the combination of the projection angle of the corresponding driving device, projection time of the infrared beam, and imaging time of the first and second infrared image sensors are set.

15 . A method for measuring depth data, comprising:

projecting an infrared beam having a spot pattern emitted from the light source device at different angles;

performing at least two imaging operations on a measured space using first and second infrared image sensors with fixed relative positions to acquire at least two sets of images, wherein, in the at least two imaging, the measured space is projected with different spot patterns due to the different projection angles;

obtaining depth data from the at least two sets of images and perform depth data fusion,

wherein performing at least two imaging operations on the measured space using the first and second infrared image sensors with fixed relative positions comprises:

performing a first imaging operation using a first sub-image sensor pair having a predetermined relative positional relationship to acquire a first image frame pair;

performing a second imaging operation using a second sub-image sensor pair to acquire a second image frame pair, wherein one sub-image sensor from the first sub-image sensor pair and one sub-image sensor from the second sub-image sensor pair share at least part of an optical path and constitutes the first infrared image sensor, the other sub-image sensor from the first sub-image sensor pair and the other sub-image sensor from the second sub-image sensor pair share at least part of an optical path and constitute the second infrared image sensor, and the first and second image frame pairs are used for a single depth data calculation of the shooting area,

wherein the first sub-image sensor pair performs one imaging operation of the at least two imaging operations, and the second sub-image sensor pair performs another imaging operation of the at least two imaging operations, sequentially at a first interval, the first interval being smaller than a minimum frame imaging interval of the sub-image sensors.