Depth data measuring head, computing device and measurement method

Abstract

A depth data measuring head () comprising: a structured light projection apparatus () used for projecting, under the drive of a driving apparatus () and at different projection angles, a beam having a texture to a measured space so as to form different textures on an object to be measured; and first and second image sensors () that are respectively arranged on both sides of the structured light projection apparatus (), the first and second image sensors having a predetermined relative spatial position relationship and imaging the measured space at least twice 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. The structured light projection apparatus () that reflects, at different angles, structured light generated by a light source module (I) is used, so that rapid, economical and low-failure-rate multi-pattern projection is implemented. Furthermore, the structured light projection apparatus () matches multiple pairs of binocular sensors () sharing a light path, thereby further shortening the frame interval and improving the quality of depth fusion data. Also disclosed is a depth data computing device and measurement method.