CN205336464U - Range data detecting system - Google Patents
Range data detecting system Download PDFInfo
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- CN205336464U CN205336464U CN201521010933.5U CN201521010933U CN205336464U CN 205336464 U CN205336464 U CN 205336464U CN 201521010933 U CN201521010933 U CN 201521010933U CN 205336464 U CN205336464 U CN 205336464U
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Abstract
The utility model discloses a range data detecting system, this system includes: infrared code projecting system has multiple mode, plants mode down with the projection angle of difference and/or from different positions to being throwed the infrared beam who has the texture by the survey space at each, two have predetermined relative spatial position and concern infrared light image sensor for respectively to being surveyed aerial image, the controller is connected with infrared code projecting system and two infrared light image sensor respectively for control the synchronous shooting of two infrared light image sensor, and after each frame exposure of two infrared light image sensor, switch infrared code projecting system to next mode. Based on the utility model discloses infrared image under the multiple mode that acquires can obtain reflecting more fully the range data of the depth information of treating detecting object.
Description
Technical field
This utility model relates to three-dimensional values technical field, specifically, relates to a kind of depth data detection system。
Background technology
Three-dimensional information also can claim depth information or depth of view information, and its importance in modern image information acquiring technology manifests day by day, especially in the application such as monitoring security protection, somatosensory operation and mechanical automation。
Existing depth detection equipment is generally adopted auxiliary discrete light source and is illuminated, such as structured light etc., by detecting the phase shift of structured light thus calculating the depth information obtaining object being measured surface. briefly, first this measurement device projects the two-dimensional laser textured pattern with coding information to surface to be measured, the speckle pattern of such as discretization, laser texture is carried out continuous acquisition by another place's relatively-stationary image collecting device in position, the plane of reference texture sequence of the laser texture sequence of collection with the known depth distance being stored in advance in depositor is compared by processing unit, calculate the depth distance of each laser texture sequence fragment being incident upon nature surface, one step surveying of going forward side by side draws the three-dimensional data on determinand surface。Method based on the three-dimensional measurement technology employing data localized that this structured light detects, it is possible to the depth information of examined object detected to a certain extent。
But the depth data of the position that there is texture fragment in examined object can only be detected by this depth detection equipment, the depth data for not projecting the position of texture fragment in examined object then cannot draw exactly。
Accordingly, it would be desirable to the depth data detection system of a kind of depth data that can obtain examined object more fully hereinafter。
Utility model content
For the problem mentioned in background technology, the purpose of this utility model is in that to provide the depth data detection system of a kind of depth data that can obtain examined object more fully hereinafter。
For achieving the above object, this utility model provides a kind of depth data detection system, this system includes: infrared coding optical projection system, there is multiple-working mode, under each mode of operation with different crevice projection angles and/or from different positions to detected space projection be with veined infrared beam, so that the examined object in detected space to be formed the infrared texture of random distribution；Two Infrared image sensors, for respectively to detected space imaging, thus forming two infrared texture images, there is between two Infrared image sensors predetermined relative tertiary location relation, it is enable to the position difference of texture segment image that formed accordingly in two infrared texture images based on texture fragment same in infrared texture and predetermined relative tertiary location relation, it is determined that infrared texture is relative to the depth data of two infrared image sensors；Controller, it is connected with infrared coding optical projection system and two Infrared image sensors respectively, for controlling two Infrared image sensors sync pulse jamming, and after two each exposed frames of Infrared image sensors terminate, infrared coding optical projection system is switched to subsequent work pattern。
Preferably, controller carries out imaging by triggering two infrared image sensors to two Infrared image sensors transmission triggering signals, controller switches the mode of operation of infrared coding optical projection system by sending switching signal to infrared coding optical projection system, wherein, signal is triggered Tong Bu with switching signal
Preferably, infrared coding optical projection system can include multiple infrared coding projection arrangement, multiple infrared coding projection arrangements are positioned at the diverse location in the middle of two Infrared image sensors, and under different mode of operations, controller switches different infrared coding projection arrangements and devotes oneself to work。
Preferably, the quantity of infrared coding projection arrangement is less than or equal to 5。
Preferably, this system can also include the infrared light detection device being arranged on the projecting direction of infrared coding optical projection system, can determine which infrared coding projection arrangement is in running order based on infrared light detection device。
Preferably, the infrared beam that multiple infrared coding projection arrangements project is modulated in a different manner so that by analyzing the infrared signal that infrared light detection device receives, it is possible to determine which infrared coding projection arrangement is in running order。
Preferably, the projecting direction of each infrared coding projection arrangement is respectively arranged with infrared light detection device, in response to the infrared light detection device receiving infrared signal, it is determined that in running order with the infrared coding projection arrangement corresponding to this infrared light detection device。
Preferably, the line at the optical imagery center of two imageing sensors is base direction, and the position difference of the texture segment image that same texture fragment is formed accordingly in two infrared texture images is at base direction。
Preferably, infrared coding projection arrangement includes: infrared emittance, is used for producing infrared light；Optical system, for becoming by the infrared light that infrared emittance produces into the veined infrared beam of band。
Preferably, the glow frequency of infrared light generator is the integral multiple of the frame frequency of infrared image sensor。
Advantageous Effects of the present utility model is in that, based on the depth data detection system that this utility model is proposed, can obtaining the infrared image of examined object under multiple-working mode, the infrared image obtained under different working modes contains the depth information of diverse location in examined object。Therefore, based on the infrared image under the acquired multiple-working mode of this utility model, it is possible to obtain reflecting more fully hereinafter the depth data of the depth information of examined object。
Accompanying drawing explanation
In conjunction with the drawings disclosure illustrative embodiments is described in more detail, above-mentioned and other purpose, feature and the advantage of the disclosure will be apparent from, wherein, in disclosure illustrative embodiments, identical reference number typically represents same parts。
Fig. 1 illustrates the schematic block diagram of the depth data detection system according to this utility model one embodiment。
Fig. 2 illustrates the schematic block diagram of the depth data detection system according to another embodiment of this utility model。
Fig. 3 illustrates the schematic block diagram of the depth data detection system according to another embodiment of this utility model。
The concrete meaning of number in the figure is: 1, infrared coding optical projection system, the 2, first Infrared image sensors, the 3, second Infrared image sensors, 4, controller, and 1-1～1-N, Infrared image sensors, 6, infrared light detection device。
Detailed description of the invention
It is more fully described the preferred implementation of the disclosure below with reference to accompanying drawings。Although accompanying drawing shows the preferred implementation of the disclosure, however, it is to be appreciated that may be realized in various forms the disclosure and should do not limited by embodiments set forth herein。On the contrary, it is provided that these embodiments are to make the disclosure more thorough and complete, and the scope of the present disclosure can intactly convey to those skilled in the art。
As previously mentioned, existing depth data detection system can not obtain the depth data of more position in examined object so that detects, based on existing depth data, the depth data of examined object that system obtains and can not reflect the depth information of examined object surface details position exactly。For this, this utility model provides a kind of depth data detection system that can obtain the depth data of more positions in examined object, make to detect system based on depth data of the present utility model, it is possible to obtain reflecting more fully hereinafter the depth data of the depth information of examined object。
Fig. 1 illustrates the schematic block diagram of the depth data detection system according to this utility model one embodiment。
As it is shown in figure 1, depth data of the present utility model detection system includes infrared coding optical projection system the 1, first infrared image sensor the 2, second infrared image sensor 3 and controller 4。
Infrared coding optical projection system 1 in the embodiment of the present invention is for being with veined infrared beam to detected space projection, to form the infrared light texture of random distribution in the examined object in detected space。Wherein, the texture entrained by infrared beam of infrared coding optical projection system 3 projection can be random speckle texture, it is also possible to is the striped encoding texture adopting DeBruijn (Gerard Debreu is because of sequence) sequence, certainly can also is that other shapes of texture。
Infrared coding optical projection system 1 has multiple-working mode, under not planting mode of operation, infrared coding optical projection system 1 can with different crevice projection angles or from different positions or be simultaneously with veined infrared beam with different crevice projection angles to detected space projection in different positions, so that under different mode of operations, examined object in detected space can be formed the textured pattern with different distributions, namely under different working modes, the multiple texture fragments being incident upon in the examined object position that to be distributed in examined object different。Wherein, the texture information entrained by infrared beam that infrared coding optical projection system 1 projects under different working modes can be identical, it is also possible to different。
Between first infrared image sensor 2 and the second infrared image sensor 3, there is predetermined relative tertiary location relation, for each mode of operation residing for infrared coding optical projection system 1, detected space can be shot by the first infrared image sensor 2 and the second infrared image sensor 3, to obtain under different working modes the image of examined object in detected space。Wherein, the first infrared image sensor 2 and the acquired image of the second infrared image sensor 3 are by projecting the infrared texture image formed in examined object with veined infrared beam。
Due under different working modes, examined object in detected space has the textured pattern of different distributions, therefore, under different working modes, the first infrared image sensor 2 is different with the distribution of the texture fragment in the infrared texture image of the examined object that the second infrared image sensor 3 obtains。
Controller 5 is connected with infrared coding optical projection system 1 and two Infrared image sensors (first Infrared image sensors the 2, second Infrared image sensors 3) respectively, two Infrared image sensors sync pulse jamming can be controlled, and controller 5 can switch the mode of operation of infrared coding optical projection system 1, after two each exposed frame of Infrared image sensors (shooting) are completed, it is possible to infrared coding optical projection system 1 is switched to subsequent work pattern。
Specifically, controller 5 can by triggering two infrared image sensor synchronous imagings to two Infrared image sensors transmission triggering signals, and switch the mode of operation of infrared coding optical projection system 1 by sending switching signal to infrared coding optical projection system 1, wherein, triggering signal can synchronized transmission with switching signal。
So, infrared coding optical projection system 1 can be switched to next mode of operation in response to switching signal, and the first Infrared image sensors 2 and the second Infrared image sensors 3 can be simultaneously in response to receive the triggering signal that trigger 5 sends, the detected space under next mode of operation is carried out imaging。
Owing to the first Infrared image sensors 2 and the second Infrared image sensors 3 can obtain the infrared image of examined object under multiple-working mode, and the infrared image obtained under different working modes can reflect the depth information of examined object diverse location。Therefore, based on the infrared image of the examined object under the acquired multiple-working mode of this utility model, it is possible to obtain reflecting more exactly the depth data of the depth information of examined object。
Specifically, the infrared image that depth data based on this utility model embodiment is measured under the multiple-working mode that system obtains can be processed, calculate the depth data of the infrared image of the examined object obtained under different working modes, then calculated depth data under multiple-working mode is merged, it is possible to obtain reflecting more exactly the depth data of the depth information of examined object。
Such as, can using the line at the optical imagery center of two imageing sensors as base direction, now, under every kind of mode of operation, in examined object, the position difference of the texture segment image that same texture fragment is formed accordingly in two infrared texture images is on base direction。So, for each mode of operation, according to the predetermined relative tertiary location relation between two Infrared image sensors, the position difference of texture segment image that formed accordingly in two infrared texture images based on texture fragment same in infrared texture in examined object, it may be determined that the depth data of this texture fragment。Thus, it is possible to determine the depth data of multiple texture fragments in examined object, namely determine the depth data relative to two Infrared image sensors of the infrared texture in examined object。Thus, it is possible to do not planted under mode of operation the depth data of each texture fragment in examined object。Owing to the distribution of the texture fragment in examined object under different working modes is different, therefore the depth data of each texture fragment do not planted under mode of operation in determined examined object can be merged, using the depth data after merging as the depth data of examined object。
Wherein, the method that determined depth data under multiple-working mode merges can be had multiple。Such as, when the precise requirements of the depth data to examined object is not high, it is possible to take under multiple-working mode the meansigma methods of determined depth data as the depth data of examined object；Again such as, under merging multiple-working mode in the process of the depth data of the texture fragment in determined examined object, for multiple texture fragments being in examined object same position, its meansigma methods depth data as this position can be taken, and for being absent from the texture fragment of overlap, the depth data of this texture fragment depth data as position corresponding to it can be taken, thus, contain the depth data of the more position of examined object after fusion, more can reflect the depth information of examined object exactly。
Fig. 2 illustrates the schematic block diagram of the depth data detection system according to another embodiment of this utility model。As in figure 2 it is shown, in depth data detection system of the present utility model, infrared coding optical projection system 1 can by multiple infrared coding projection arrangement (in figure 1-1,1-2,1-3 ... 1-N) compositions being in diverse location。Wherein, the quantity of infrared coding projection arrangement can set according to actual needs, for instance, it is possible to it is less than 5 by the quantity set of infrared coding projection arrangement。
Wherein, multiple infrared coding projection arrangements can be preferably provided in the middle of two Infrared image sensors, in order to the projected area of multiple infrared coding projection arrangements can be completely covered the public effective coverage of two Infrared image sensors。Each infrared coding projection arrangement can be with veined infrared beam to detected space projection, and the infrared texture that different infrared coding projection arrangements projects can be identical, it is also possible to different。
Further, infrared coding projection arrangement can be made up of infrared light generator and optical system。Infrared light generator can produce infrared light, and the infrared light that infrared light generator produces can be processed by optical system, is become the veined infrared beam of band。Wherein, according to actual needs, optical system can have various structures。When optical system adopts different structures, the infrared light that infrared light generator sends is after optical system, it is possible to become the infrared beam with different texture。Such as, optical system can be made up of optical beam-splitter and optical diffusion sheet, the list bundle iraser that infrared light generator sends is after optical beam-splitter, can becoming multi beam iraser, then multi beam iraser just can produce multiple stripe-shaped beam or multiple discrete light spot (the concrete structure of texture fragment is relevant with the optical property of optical diffusion sheet) after inciding optical diffusion sheet。Again such as, optical system can also adopt such as holography to decline lens arra, optical mask and/or other type of grating, thus, it is possible to produce other structured light pattern。
It addition, as preferably, the glow frequency (launching the pulse frequency of infrared light) of infrared light generator can be the integral multiple of the frame frequency of infrared image sensor, so, work asynchronously for infrared light generator and infrared image sensor and provide the foundation。Further, the glow frequency of infrared light generator can be arranged to a higher numerical value (as can more than 100HZ), and so, the light that infrared photoproduction device sends is constant relative to being substantially imageing sensor。
In the duration of work of each infrared coding projection arrangement, the first Infrared image sensors 2 and the second Infrared image sensors 3 can to detected space at least for Polaroid。Wherein, the first Infrared image sensors 2 and the second Infrared image sensors 3 imaging are the infrared texture images with multiple texture fragments。
Owing to multiple infrared coding projection arrangements lay respectively at different positions, therefore, devote oneself to work and just can form the textured pattern of the texture fragment with different distributions in examined object by controlling different infrared coding projection arrangements。
Devote oneself to work in turn in a predetermined sequence for example, it is possible to control multiple infrared coding projection arrangement by controller 4, so that the examined object in detected space can be formed the textured pattern with different distributions。
Specifically, after the first Infrared image sensors 2 and the second Infrared image sensors 3 have exposed with this, controller 4 sends switching signal, and the infrared coding projection arrangement controlling to devote oneself to work quits work, and starts working according to the next infrared coding projection arrangement of predefined procedure switching。While sending switching signal, controller 4 can also send to the first Infrared image sensors 2 and the second Infrared image sensors 3 simultaneously trigger signal, triggers the first Infrared image sensors 2 and the second Infrared image sensors 3 to detected space imaging。
Certainly, the above-mentioned functions for controller 4 can also pass through the realization of other existing equipment, repeats no more herein。
Fig. 3 illustrates the schematic block diagram of the depth data detection system according to another embodiment of this utility model。As it is shown on figure 3, depth data of the present utility model detection system is except including in Fig. 3 except entire infrastructure, it is also possible to include infrared light detection device 6 alternatively。
Infrared light detection device 6 can be arranged on the projecting direction of infrared coding optical projection system。Infrared light detection device 6 may be used to determine infrared coding projection arrangement in running order in multiple infrared coding projection arrangement, namely may be used to determine the numbering of in running order infrared coding projection arrangement。So, in system work process, it is possible to determine in running order infrared coding projection arrangement easily。
Specifically, infrared light detection device can be respectively arranged with to detect in running order infrared coding projection arrangement (as shown in Figure 3, it is possible to place an infrared light detection device one jiao, each laser instrument front end) on the projecting direction of each infrared coding projection arrangement。Alternatively, it is also possible to determine which infrared coding projection arrangement is in running order by arranging an infrared light detection device。
For passing through to arrange an in running order infrared coding projection arrangement of infrared light detection device detection, it is possible in advance the infrared beam that multiple infrared coding projection arrangements project is modulated in a different manner。For example, it is possible to the infrared beam in advance multiple infrared coding projection arrangements projected carries out amplitude modulation, phase modulation, frequency modulation or intensity modulated with different parameters, and preserve each modulation intelligence corresponding to infrared coding projection arrangement。Then infrared signal infrared light detection device detected is demodulated waiting and processes, and is compared by the modulation intelligence processing infrared signal and the preservation obtained, it is possible to determine in running order infrared coding projection arrangement。It addition, multiple infrared coding projection arrangements can also launch infrared light with different frequencies, at this point it is possible to the frequency of infrared signal detected by analyzing infrared light detection device, it is determined which infrared coding projection arrangement is in running order。
For detecting in running order infrared coding projection arrangement by being respectively arranged with infrared light detection device on the projecting direction of each infrared coding projection arrangement, can according to the infrared light detection device receiving infrared signal, it is determined that in running order with the infrared coding projection arrangement corresponding to this infrared light detection device。
Above describe in detail by reference to accompanying drawing and detect system according to depth data of the present utility model。
Being described above each embodiment of the present utility model, described above is illustrative of, and non-exclusive, and it is also not necessarily limited to disclosed each embodiment。When not necessarily departing from the scope and spirit of illustrated each embodiment, many modifications and changes will be apparent from for those skilled in the art。The selection of term used herein, it is intended to explain the principle of each embodiment, practical application or the improvement to the technology in market best, or make other those of ordinary skill of the art be understood that each embodiment disclosed herein。
Claims (10)
1. a depth data detection system, it is characterised in that including:
Infrared coding optical projection system, there is multiple-working mode, under each mode of operation with different crevice projection angles and/or from different positions to detected space projection be with veined infrared beam, so that the examined object in detected space to be formed the infrared texture of random distribution；
Two Infrared image sensors, for respectively to described detected space imaging, thus forming two infrared texture images, there is between said two Infrared image sensors predetermined relative tertiary location relation, it is enable to the position difference of texture segment image that formed accordingly in said two infrared texture image based on texture fragment same in described infrared texture and described predetermined relative tertiary location relation, it is determined that described infrared texture is relative to the depth data of said two infrared image sensor；
Controller, it is connected with described infrared coding optical projection system and said two Infrared image sensors respectively, for controlling said two Infrared image sensors sync pulse jamming, and after each exposed frame of said two Infrared image sensors terminates, described infrared coding optical projection system is switched to subsequent work pattern。
2. depth data according to claim 1 detection system, it is characterised in that
Described controller carries out imaging by triggering said two infrared image sensor to said two Infrared image sensors transmission triggering signal,
Described controller switches the mode of operation of described infrared coding optical projection system by sending switching signal to described infrared coding optical projection system,
Wherein, described triggering signal is Tong Bu with described switching signal。
3. depth data according to claim 1 detection system, it is characterized in that, described infrared coding optical projection system includes multiple infrared coding projection arrangement, and the plurality of infrared coding projection arrangement is positioned at the diverse location in the middle of said two Infrared image sensors
Under different mode of operations, described controller switches different infrared coding projection arrangements and devotes oneself to work。
4. depth data according to claim 3 detection system, it is characterised in that
The quantity of described infrared coding projection arrangement is less than or equal to 5。
5. depth data according to claim 3 detection system, it is characterised in that
Also include the infrared light detection device being arranged on the projecting direction of described infrared coding optical projection system, can determine which infrared coding projection arrangement is in running order based on described infrared light detection device。
6. depth data according to claim 5 detection system, it is characterised in that
The infrared beam that the plurality of infrared coding projection arrangement projects is modulated in a different manner so that by analyzing the infrared signal that described infrared light detection device receives, it is possible to determine which infrared coding projection arrangement is in running order。
7. depth data according to claim 5 detection system, it is characterised in that
The projecting direction of each described infrared coding projection arrangement is respectively arranged with infrared light detection device,
In response to the infrared light detection device receiving infrared signal, it is determined that in running order with the infrared coding projection arrangement corresponding to this infrared light detection device。
8. depth data according to claim 1 detection system, it is characterised in that
The line at the optical imagery center of said two imageing sensor is base direction, and the position difference of the texture segment image that described same texture fragment is formed accordingly in said two infrared texture image is at base direction。
9. the depth data detection system according to any one of claim 3 to 8, it is characterised in that described infrared coding projection arrangement includes:
Infrared emittance, is used for producing infrared light；
Optical system, for becoming by the infrared light that described infrared emittance produces into the veined infrared beam of band。
10. depth data according to claim 9 detection system, it is characterised in that
The glow frequency of described infrared light generator is the integral multiple of the frame frequency of described infrared image sensor。
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106707485A (en) * | 2016-12-21 | 2017-05-24 | 中国科学院苏州生物医学工程技术研究所 | Miniature structure light microscopic illumination system |
| CN107369156A (en) * | 2017-08-21 | 2017-11-21 | 上海图漾信息科技有限公司 | Depth data detecting system and its infrared coding projection arrangement |
| CN108833885A (en) * | 2018-07-17 | 2018-11-16 | Oppo广东移动通信有限公司 | Image processing method, device, computer readable storage medium and electronic equipment |
| CN109194947A (en) * | 2018-09-13 | 2019-01-11 | 广东光阵光电科技有限公司 | Binocular camera shooting mould group and mobile terminal |
| CN109299662A (en) * | 2018-08-24 | 2019-02-01 | 上海图漾信息科技有限公司 | Depth data calculates apparatus and method for and face recognition device |
| CN109963138A (en) * | 2019-02-15 | 2019-07-02 | 深圳奥比中光科技有限公司 | A kind of depth camera and image acquiring method |
| CN111692987A (en) * | 2019-03-15 | 2020-09-22 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111829449A (en) * | 2019-04-23 | 2020-10-27 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111854625A (en) * | 2019-04-29 | 2020-10-30 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106707485A (en) * | 2016-12-21 | 2017-05-24 | 中国科学院苏州生物医学工程技术研究所 | Miniature structure light microscopic illumination system |
| CN106707485B (en) * | 2016-12-21 | 2024-05-03 | 中国科学院苏州生物医学工程技术研究所 | Small-size structure light microscopic lighting system |
| CN107369156B (en) * | 2017-08-21 | 2024-04-12 | 上海图漾信息科技有限公司 | Depth data detection system and infrared coding projection device thereof |
| CN107369156A (en) * | 2017-08-21 | 2017-11-21 | 上海图漾信息科技有限公司 | Depth data detecting system and its infrared coding projection arrangement |
| CN108833885A (en) * | 2018-07-17 | 2018-11-16 | Oppo广东移动通信有限公司 | Image processing method, device, computer readable storage medium and electronic equipment |
| CN109299662A (en) * | 2018-08-24 | 2019-02-01 | 上海图漾信息科技有限公司 | Depth data calculates apparatus and method for and face recognition device |
| CN109194947A (en) * | 2018-09-13 | 2019-01-11 | 广东光阵光电科技有限公司 | Binocular camera shooting mould group and mobile terminal |
| CN109963138A (en) * | 2019-02-15 | 2019-07-02 | 深圳奥比中光科技有限公司 | A kind of depth camera and image acquiring method |
| CN111692987A (en) * | 2019-03-15 | 2020-09-22 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| US11885613B2 (en) | 2019-03-15 | 2024-01-30 | Shanghai Percipio Technology Limited | Depth data measuring head, measurement device and measuring method |
| CN111829449B (en) * | 2019-04-23 | 2022-04-12 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111829449A (en) * | 2019-04-23 | 2020-10-27 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111854625B (en) * | 2019-04-29 | 2021-12-03 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN111854625A (en) * | 2019-04-29 | 2020-10-30 | 上海图漾信息科技有限公司 | Depth data measuring head, measuring device and measuring method |
| CN112019773A (en) * | 2019-05-13 | 2020-12-01 | 上海图漾信息科技有限公司 | Image sensor, depth data measuring head, measuring device and method |
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