WO2020000730A1 - 深度测量方法、深度测量装置及拍摄设备 - Google Patents

深度测量方法、深度测量装置及拍摄设备 Download PDF

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WO2020000730A1
WO2020000730A1 PCT/CN2018/107864 CN2018107864W WO2020000730A1 WO 2020000730 A1 WO2020000730 A1 WO 2020000730A1 CN 2018107864 W CN2018107864 W CN 2018107864W WO 2020000730 A1 WO2020000730 A1 WO 2020000730A1
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depth
preset
light
light intensity
degree
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French (fr)
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吕思豪
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Goertek Inc
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Goertek Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth

Definitions

  • the present application relates to the field of measurement technology, and in particular, to a depth measurement method, a depth measurement device, and a photographing device.
  • depth measurement can be performed by structured light.
  • structured light depth measurement the detection light is emitted and the reflected light generated by the detection light is reflected, and the depth is determined according to the reflected light.
  • the emitted light intensity of the detection light is usually determined according to the maximum depth of the required measurement. However, in some cases, most of the measured depths may be less than the maximum depth, so the required emission light intensity of the detection light is also small.
  • the detection light is continuously emitted at the emission light intensity determined according to the maximum depth.
  • the light emitting element continues to run at a large power, and its own temperature can easily rise rapidly, which will lead to an increase in energy consumption during depth measurement.
  • the main purpose of this application is to propose a depth measurement method, which aims to solve the technical problem of the high emitted light intensity of the detection light in the depth measurement process, and reduce the energy consumption in the depth measurement process.
  • the depth measurement method proposed in this application includes the following steps:
  • the measured depth is determined according to the first reflected light.
  • the step of obtaining the measured depth interval includes:
  • the second preset light intensity is greater than or equal to the first preset light intensity.
  • the depth measurement method before the step of acquiring the measured depth interval, the depth measurement method further includes the following steps:
  • a minimum light intensity of the detection light that makes the degree of dispersion smaller than the preset degree of dispersion is determined, and is recorded as a third preset light intensity corresponding to the depth to be calibrated.
  • the depth measurement includes the following steps:
  • the third preset light intensity corresponding to the minimum to-be-calibrated depth is recorded as the first preset light intensity corresponding to the measured depth interval.
  • the step of obtaining a preset number of depth images corresponding to the calibration object located at the depth to be calibrated under the current light intensity of the detection light includes:
  • the preset time interval is 40ms ⁇ 60ms.
  • the step of calculating a degree of discreteness of the depth in the preset number of the depth images includes:
  • the maximum degree of dispersion in all positions of the depth image is obtained and recorded as a degree of dispersion in depth in a preset number of the depth images.
  • the depth measurement method further includes the following steps:
  • the fourth preset light intensity is greater than or equal to the first preset light intensity.
  • the step of determining the measured depth according to the first reflected light includes:
  • the fifth preset light intensity is smaller than the first preset light intensity.
  • the present application also proposes a depth measurement device, the depth measurement device includes a light emitting element, a light receiving element, a memory, a processor, and a processor stored in the memory and operable on the processor.
  • Depth measurement program wherein: the light emitting member is used to emit detection light; the light receiving member is used to receive the first reflected light generated by the detection light being reflected; when the depth measurement program is executed by the processor
  • a step of implementing a depth measurement method which includes the following steps: obtaining a measured depth interval; determining a first preset light intensity of the detection light according to the measured depth interval; and according to the first preset light intensity Transmitting detection light and receiving a first reflected light generated by the detection light being reflected; determining a measured depth according to the first reflected light.
  • the present application also proposes a photographing device, the photographing device includes a depth measuring device, and the depth measuring device includes a light emitting element, a light receiving element, a memory, a processor, and a memory stored on the memory and A depth measurement program running on the processor, wherein: the light emitting element is configured to emit detection light; the light receiving element is configured to receive a first reflected light generated by the detection light being reflected; the depth measurement A step of implementing a depth measurement method when the program is executed by the processor, the depth measurement method includes the following steps: obtaining a measured depth interval; determining a first preset light intensity of the detection light according to the measured depth interval; The first preset light intensity emits detection light and receives a first reflected light generated by the detection light being reflected; and a measured depth is determined according to the first reflected light.
  • the depth measurement method includes the following steps: obtaining a measured depth interval; determining a first preset light intensity of the detection light according to the measured depth interval; emitting detection light according to the first preset light intensity, and receiving detection The first reflected light generated by the reflected light; the measured depth is determined according to the first reflected light.
  • the first preset light intensity of the detection light is determined according to the measured depth interval, and the detection light is emitted at the first preset light intensity, so that the emitted light intensity of the detection light matches the measured depth, avoiding always using the maximum light intensity
  • the detection light is emitted, thereby reducing the power of the light-emitting element and avoiding the rapid rise of the temperature of the light-emitting element, so as to reduce potential safety hazards, and also help reduce energy consumption during depth measurement.
  • FIG. 1 is a schematic flowchart of a first embodiment of a depth measurement method of the present application
  • FIG. 2 is a detailed flowchart of step S100 in the second embodiment of the depth measurement method of the present application.
  • FIG. 3 is a schematic flowchart of a third embodiment of a depth measurement method according to the present application.
  • FIG. 4 is a schematic flowchart of a fourth embodiment of a depth measurement method of the present application.
  • step S530 is a detailed flowchart of step S530 in a sixth embodiment of the depth measurement method of the present application.
  • FIG. 6 is a schematic flowchart of a seventh embodiment of a depth measurement method according to the present application.
  • step S400 is a detailed flowchart of step S400 in the eighth embodiment of the depth measurement method of the present application.
  • FIG. 8 is a schematic structural diagram of a depth measurement device of the present application.
  • the directional indication is only used to explain in a specific posture (as shown in the accompanying drawings) (Shown) the relative positional relationship, movement, etc. of the components below, if the specific posture changes, the directional indicator will change accordingly.
  • This application proposes a depth measurement method.
  • the emitted light intensity of the detection light is determined according to the measured depth interval, so that the emitted light intensity of the detection light matches the measured depth, thereby reducing energy consumption in the depth measurement process.
  • the depth measurement method includes the following steps:
  • Step S100 Obtain a measured depth interval
  • the entire depth range that can be measured is relatively large, and corresponding to different depths in the entire depth range, the emitted light intensity of the required detection light is also different.
  • the emitted light intensity of the required detection light is also different.
  • the difference between the depths is small, and the detection light of the same emitted light intensity can be used to achieve depth measurement .
  • Obtaining the measured depth interval is only an estimation of the measured depth. The required accuracy is relatively low.
  • There are multiple ways to obtain the measured depth interval For example, when the number of measured depth intervals is small, for example, when there are only two or three measured depth intervals, it is possible to transmit a detection light pulse of intermediate intensity and receive reflected light reflected by the detection light.
  • the reflected light determines the measured depth interval.
  • a detection light pulse may be transmitted according to the strongest emission light intensity to determine the measured depth interval, which will be explained in detail later.
  • the relevant information of the measured depth interval is included in the depth measurement instruction, and then the measured depth interval can be obtained directly according to the depth measurement instruction.
  • Step S200 Determine a first preset light intensity of the detection light according to the measured depth interval
  • the required emitted light intensity of the detection light is also different. Specifically, the deeper the depth corresponding to the measured depth interval, the greater the required emitted light intensity of the detected light.
  • the correspondence between the depth interval and the emitted light intensity of the detection light can be calibrated in advance through experiments or simulations. In the process of measuring depth, the first preset light intensity of the detection light required for this measurement is determined according to the acquired depth interval and the correspondence between the depth interval and the emitted light intensity of the detection light.
  • Step S300 The detection light is emitted according to the first preset light intensity, and the first reflected light generated by the detection light being reflected is received;
  • the detection light is emitted according to the first preset light intensity, and the first reflected light generated by the detection light being reflected is received.
  • the first reflected light is generated by the reflection of the deepest obstacle that is currently being measured.
  • laser light is usually used as the detection light.
  • the detection light is structured light that is coded or characterized, including a light dot matrix, light stripes, or light surface with a certain regularity, and can be generated through light spots, light slits, gratings, grids, cylindrical lenses, and the like.
  • the corresponding depth image When structured light is projected onto an obstacle, the corresponding depth image has feature points that are easy to match, which is conducive to improving measurement accuracy and reducing measurement difficulty.
  • the detection light In order to ensure the sensitivity and accuracy of the depth measurement and reflect the changes in depth in time, the detection light is usually transmitted in real time or at a predetermined time interval. Accordingly, the reception of the first reflected light is received in real time or at a predetermined time interval. Received.
  • Step S400 Determine the measured depth according to the first reflected light.
  • a depth image can be obtained that reflects the surface information of the obstacle at the measured depth position.
  • the feature points corresponding to the structured light are extracted, and the position coordinates of the feature points are obtained.
  • the surface shape of the obstacle is determined by pattern recognition, and the light that emits the detection light is combined.
  • the position coordinates of the transmitting element and the light receiving element receiving the first reflected light in space can be measured by using the principle of triangulation.
  • the depth measurement method includes the following steps: obtaining a measured depth interval; determining a first preset light intensity of the detection light according to the measured depth interval; emitting detection light according to the first preset light intensity, and receiving detection The first reflected light generated by the reflected light; the measured depth is determined according to the first reflected light.
  • the first preset light intensity of the detection light is determined according to the measured depth interval, and the detection light is emitted at the first preset light intensity, so that the emitted light intensity of the detection light matches the measured depth, avoiding always using the maximum light intensity
  • the detection light is emitted, thereby reducing the power of the light-emitting element and avoiding the rapid rise of the temperature of the light-emitting element, so as to reduce potential safety hazards, and also help reduce energy consumption during depth measurement.
  • step S100 includes:
  • Step S110 The detection light is emitted according to the second preset light intensity, and the second reflected light generated by the detection light being reflected is received;
  • Step S120 Determine a measured depth interval according to the second reflected light
  • the second preset light intensity is greater than or equal to the first preset light intensity.
  • the second preset light intensity corresponds to the maximum light intensity emitted by the light emitting element during the depth measurement process, so as to cover the deepest measured depth range as much as possible.
  • the detection light is emitted at the second preset light intensity
  • the depth range that can be detected by the detection light pulse is the largest, so in the case of eliminating other interference, it is sufficient to emit the detection light of the second preset light intensity at one time.
  • Determine the measured depth interval After the measured depth interval is determined, the depth is measured according to the specific depth detection method in the first embodiment.
  • the detection depth range is not determined when the detection light is emitted at the second preset light intensity for the first time, the detection light of the second preset light intensity may be emitted again to compensate.
  • the energy consumed to emit the detection light at the second preset light intensity once or a few times is low, which has a small impact on the energy consumption during the entire depth measurement process, and is conducive to improving the determination of the measured depth interval. Efficiency, improving the effect of depth measurement.
  • the depth measurement method further includes the following steps:
  • Step S510 Change the light intensity of the detection light according to a preset rule
  • Step S520 Under the current light intensity of the detection light, obtain a preset number of depth images corresponding to the calibration object located at the depth to be calibrated;
  • Step S530 Calculate the degree of discreteness of the depth in the preset number of depth images
  • Step S540 Compare the discrete degree and the preset discrete degree
  • Step S550 Determine the minimum light intensity of the detection light that makes the degree of dispersion smaller than the preset degree of dispersion, and record it as the third preset light intensity corresponding to the depth to be calibrated.
  • a calibration object is set at the position where the depth to be calibrated is located.
  • the side of the calibration object facing the detection light can be set as a plane, and the plane is located at the depth to be calibrated. on.
  • a preset number of depth images are obtained, the preset number of depth images corresponding to the calibration object located at the depth to be calibrated, and reflecting the surface information of the calibration object facing the detection light side. Further calculate the dispersion degree of the depth feedback from the depth image to determine whether the current emitted light intensity of the detection light is sufficient to support a stable and reliable depth measurement.
  • all preset numbers of depths at the same position should be theoretically consistent.
  • the depth of each point in all depth images is theoretically the same.
  • the degree of dispersion may specifically be a variance, a standard deviation, and the like. In a specific example, by calculating the standard deviation of the depth in the depth image, it is determined whether the light intensity of the detection light is sufficient.
  • the depth image may be divided into a certain number of pixels for calculation according to a preset step size.
  • the degree of dispersion is smaller than the preset degree of dispersion, it indicates that the intensity of the current detection light is sufficient, and the intensity of the detection light can be further reduced to determine whether the weaker intensity of the detection light still meets the measurement conditions; when the degree of dispersion is greater than When it is equal to the preset degree of dispersion, it indicates that the light intensity of the current detection light is insufficient.
  • the detection light intensity that meets the current depth measurement requirements is found.
  • the minimum light intensity of the detection light with a degree of dispersion smaller than the preset degree of dispersion is used as the third preset light intensity corresponding to the currently calibrated depth, so as to ensure that the current depth to be calibrated can be measured normally and reliably.
  • the light intensity of the detection light can be changed according to a preset rule to improve the calibration efficiency and avoid repeatedly changing the light intensity of the detection light. It can be changed according to the rule from large to small.
  • the light intensity of the detection light, or the light intensity of the detection light is changed according to a rule from small to large.
  • the light intensity of the detection light is changed according to a rule from large to small
  • the first degree of dispersion is greater than or equal to a preset degree of dispersion
  • the light intensity of the previous detection light is used as the third corresponding to the current depth to be calibrated.
  • Preset light intensity when the light intensity of the detection light is changed according to the rule from small to large, the light intensity of the detection light is used as the third preset light intensity corresponding to the depth to be calibrated when the degree of dispersion is smaller than the preset degree of dispersion for the first time.
  • the depth measurement method further includes the following steps:
  • Step S560 Determine the maximum depth of the measured depth interval according to the measured depth interval
  • Step S570 Select a minimum depth to be calibrated greater than or equal to the maximum depth
  • Step S580 Record the third preset light intensity corresponding to the minimum depth to be calibrated as the first preset light intensity corresponding to the measured depth interval.
  • the first preset light intensity corresponding to the measured depth interval in order to ensure that the first preset light intensity can cover the entire measured depth interval, so that any depth in the measured depth interval can be detected.
  • Normal measurement while reducing the first preset light intensity as much as possible to save energy consumption, determine the first preset light intensity according to the maximum depth in the measured depth interval.
  • the minimum depth to be calibrated that is greater than or equal to the maximum depth is selected, that is, when there is a maximum depth in the depth to be calibrated that is exactly equal to the measured depth interval, the third preset light intensity corresponding to the depth to be calibrated is selected as The first preset light intensity corresponding to the measured depth interval; otherwise, when there is no maximum depth directly equal to the measured depth interval in the depth to be calibrated, the smallest depth to be calibrated out of all the depths to be calibrated greater than the maximum depth is selected.
  • the corresponding third preset light intensity is used as the first preset light intensity of the measured depth interval to ensure that the emitted light intensity of the detection light can cover the entire measured depth interval.
  • step S520 includes:
  • Step S521 Acquire a depth image corresponding to a calibration object located at a depth to be calibrated at a preset time interval under the current light intensity of the detection light until the number of depth images reaches a preset number;
  • the preset time interval is 40ms ⁇ 60ms.
  • a depth image is acquired by a preset number of consecutive time intervals at a preset time interval, pending further calibration.
  • Depth images can be obtained by shooting. If the preset time interval is too small, the slight displacement generated during the shooting process may lead to poor accuracy of the depth image; if the preset time interval is too large, on the one hand, the calibration efficiency is reduced, and on the other hand, the measurement process is also vulnerable to other The interference of factors leads to differences between depth images.
  • the preferred preset time interval is 40ms ⁇ 60ms. In a specific example, the preset time interval is 50ms, that is, a depth image is acquired every 50ms.
  • step S530 includes:
  • Step S531 Calculate the degree of dispersion of all depths in the same position in a preset number of depth images, and record the degree of dispersion in the depth image at that position;
  • Step S532 Obtain the maximum degree of discreteness in all positions of the depth image, and record it as the degree of discreteness of the depth in the preset number of depth images.
  • the depth of each location on the same depth image is usually not completely the same.
  • the depth obtained according to a preset number of depth images should be theoretically consistent.
  • the maximum degree of dispersion in all positions of the depth image is obtained and recorded as the degree of depth dispersion in a preset number of depth images.
  • the detection light intensity corresponding to the depth to be calibrated is determined to ensure the reliability of the calibration and ensure the finally determined third preset light Strong can reliably measure the depth to be calibrated, further ensuring that the finally determined first preset light intensity can cover the corresponding measured depth interval. For example, when the emitted light intensity of the detection light is I, ten depth images P1, P2, ..., P10 corresponding to the same calibration object are obtained.
  • the depth measurement method further includes the following steps:
  • Step S590 When the intensity of the detection light is greater than or equal to the fourth preset light intensity, if the degree of dispersion is greater than the preset degree of dispersion, generating a first prompt signal;
  • the fourth preset light intensity is greater than or equal to the first preset light intensity.
  • the fourth preset light intensity corresponds to the maximum light intensity that the light emitting element can emit.
  • step S400 includes:
  • Step S410 Detect the average light intensity of the first reflected light
  • Step S420 Generate a second prompt signal when the average light intensity of the first reflected light is less than the fifth preset light intensity
  • the fifth preset light intensity is smaller than the first preset light intensity.
  • the fifth preset light intensity corresponds to the minimum light intensity that the light receiving member can receive.
  • the first reflected light intensity is less than the fifth preset light intensity, it indicates that there is a problem with the light emitting part or light receiving part, or that the measured depth exceeds the measurement range.
  • the depth measurement device includes a light emitting element 100, a light receiving element 200, a memory 300, a processor 400, and stored in the memory 300 and can run on the processor 400.
  • the depth measurement program includes: the light emitting element 100 is configured to emit detection light; and the light receiving element 200 is configured to receive the first reflected light generated by the reflection of the detection light.
  • the light emitting element 100 may be a laser emitting element, thereby making the depth measurement more reliable.
  • the detection light emitted by the light emitting element 100 is structured light that is coded or characterized, including a light dot matrix, a light stripe, or a light surface with a certain regularity, and can pass through light spots, light slits, gratings, grids, Cylindrical lenses and the like are generated.
  • structured light is projected onto an obstacle, the corresponding depth image has feature points that are easy to match, which is conducive to improving measurement accuracy and reducing measurement difficulty.
  • the processor 400 may call a depth measurement program stored in the memory 300 and perform the following operations:
  • the measured depth is determined according to the first reflected light.
  • the processor 400 may call a depth measurement program stored in the memory 300, and operations for obtaining a measured depth interval include:
  • the second preset light intensity is greater than or equal to the first preset light intensity.
  • the processor 400 may call a depth measurement program stored in the memory 300, and before performing an operation of acquiring a measured depth interval, perform the following operations:
  • the processor 400 may call the depth measurement program stored in the memory 300, and after determining the minimum light intensity of the detection light that makes the degree of dispersion smaller than the predetermined degree of dispersion, and records the operation as the third predetermined light intensity corresponding to the depth to be calibrated, Also does the following:
  • the third preset light intensity corresponding to the minimum depth to be calibrated is recorded as the first preset light intensity corresponding to the measured depth interval.
  • the processor 400 may call a depth measurement program stored in the memory 300 to obtain a preset number of depth images corresponding to a calibration object located at a depth to be calibrated under the current light intensity of the detection light, including:
  • a depth image corresponding to a calibration object located at a depth to be calibrated is acquired at a preset time interval until the number of depth images reaches a preset number;
  • the preset time interval is 40ms ⁇ 60ms.
  • the processor 400 may call a depth measurement program stored in the memory 300, and operations for calculating a discrete degree of depth in a preset number of depth images include:
  • the maximum degree of dispersion in all positions of the depth image is obtained and recorded as the degree of dispersion in depth in a preset number of depth images.
  • the processor 400 may call the depth measurement program stored in the memory 300, and after comparing the discrete degree and the preset discrete degree, perform the following operations:
  • the fourth preset light intensity is greater than or equal to the first preset light intensity.
  • the processor 400 may call a depth measurement program stored in the memory 300, and the operation of determining the measured depth according to the first reflected light includes:
  • the fifth preset light intensity is smaller than the first preset light intensity.
  • This application also proposes a photographing device that includes a depth measuring device.
  • a photographing device that includes a depth measuring device.
  • the shooting device may be a depth camera module.

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Abstract

本申请公开一种深度测量方法、深度测量装置及拍摄设备，其中，深度测量方法包括以下步骤：获取被测深度区间；根据所述被测深度区间，确定检测光的第一预设光强；按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；根据所述第一反射光确定被测深度。

Description

深度测量方法、深度测量装置及拍摄设备
技术领域
本申请涉及测量技术领域，特别涉及一种深度测量方法、深度测量装置及拍摄设备。
背景技术
为了获得被拍摄场景的深度信息，可以通过结构光进行深度测量。在结构光深度测量中，通过发射检测光，并接收检测光被反射产生的反射光，根据反射光确定深度。为了保障测量的稳定性，避免检测光在传输过程中大幅衰减而导致测量失败，通常根据所需测量的最大深度确定检测光的发射光强。然而，在有些情况下，大部分被测量的深度可能小于最大深度，因此所需的检测光的发射光强也较小，此时，持续以根据最大深度所确定的发射光强发射检测光，光发射件持续以较大功率运行，其自身温度很容易快速上升，并且将导致深度测量过程中的能耗增大。
发明内容
本申请的主要目的是提出一种深度测量方法，旨在解决上述深度测量过程中检测光的发射光强偏高的技术问题，降低深度测量过程中的能耗。
为实现上述目的，本申请提出的深度测量方法，包括以下步骤：
获取被测深度区间；
根据所述被测深度区间，确定检测光的第一预设光强；
按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；
根据所述第一反射光确定被测深度。
可选地，获取被测深度区间的步骤包括：
按照第二预设光强发射检测光，并接收所述检测光被反射产生的第二反射光；
根据所述第二反射光确定被测深度区间；
其中，所述第二预设光强大于或等于所述第一预设光强。
可选地，在获取被测深度区间的步骤之前，所述深度测量方法还包括以下步骤：
按照预设规律改变检测光的光强；
在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像；
计算预设数目的所述深度图像中深度的离散程度；
比对所述离散程度和预设离散程度；
确定使所述离散程度小于所述预设离散程度的检测光的最小光强，记为与所述待标定深度对应的第三预设光强。
可选地，在确定使所述离散程度小于所述预设离散程度的检测光的最小光强，记为与所述待标定深度对应的第三预设光强的步骤之后，所述深度测量方法还包括以下步骤：
根据被测深度区间，确定所述被测深度区间的最大深度；
选取大于或等于所述最大深度的最小待标定深度；
将所述最小待标定深度对应的第三预设光强，记为与所述被测深度区间对应的第一预设光强。
可选地，在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像的步骤包括：
在检测光的当前光强下，按照预设时间间隔获取与位于待标定深度的标定物体所对应的深度图像，直至所述深度图像的数目达到所述预设数目；
其中，所述预设时间间隔为40ms~60ms。
可选地，计算预设数目的所述深度图像中深度的离散程度的步骤包括：
计算预设数目的所述深度图像中，对应于同一位置上的所有深度的离散程度，记为所述深度图像中该位置的离散程度；
获取所述深度图像的所有位置中的最大离散程度，记为预设数目的所述深度图像中深度的离散程度。
可选地，在比对所述离散程度和预设离散程度的步骤之后，所述深度测量方法还包括以下步骤：
在所述检测光的光强大于或等于第四预设光强时，若所述离散程度大于所述预设离散程度，则生成第一提示信号；
其中，所述第四预设光强大于或等于所述第一预设光强。
可选地，根据所述第一反射光确定被测深度的步骤包括：
检测所述第一反射光的平均光强；
当所述第一反射光的平均光强小于第五预设光强时，生成第二提示信号；
其中，所述第五预设光强小于所述第一预设光强。
为实现上述目的，本申请还提出一种深度测量装置，所述深度测量装置包括光发射件、光接收件、存储器、处理器及存储在所述存储器上并可在所述处理器上运行的深度测量程序，其中：所述光发射件用以发射检测光；所述光接收件用以接收所述检测光被反射产生的第一反射光；所述深度测量程序被所述处理器执行时实现深度测量方法的步骤，所述深度测量方法包括以下步骤：获取被测深度区间；根据所述被测深度区间，确定检测光的第一预设光强；按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；根据所述第一反射光确定被测深度。
为实现上述目的，本申请还提出一种拍摄设备，所述拍摄设备包括深度测量装置，所述深度测量装置包括光发射件、光接收件、存储器、处理器及存储在所述存储器上并可在所述处理器上运行的深度测量程序，其中：所述光发射件用以发射检测光；所述光接收件用以接收所述检测光被反射产生的第一反射光；所述深度测量程序被所述处理器执行时实现深度测量方法的步骤，所述深度测量方法包括以下步骤：获取被测深度区间；根据所述被测深度区间，确定检测光的第一预设光强；按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；根据所述第一反射光确定被测深度。
本申请技术方案中，深度测量方法包括以下步骤：获取被测深度区间；根据被测深度区间，确定检测光的第一预设光强；按照第一预设光强发射检测光，并接收检测光被反射产生的第一反射光；根据第一反射光确定被测深度。通过根据被测深度区间确定检测光的第一预设光强，并以第一预设光强发射检测光，从而使检测光的发射光强与被测深度相匹配，避免始终以最大光强发射检测光，从而降低了光发射件的功率，避免光发射件的温度快速上升，以减小安全隐患，同时也有利于降低深度测量过程中的能耗。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请深度测量方法第一实施例的流程示意图；
图2为本申请深度测量方法第二实施例中步骤S100的细化流程示意图；
图3为本申请深度测量方法第三实施例的流程示意图；
图4为本申请深度测量方法第四实施例的流程示意图；
图5为本申请深度测量方法第六实施例中步骤S530的细化流程示意图；
图6为本申请深度测量方法第七实施例的流程示意图；
图7为本申请深度测量方法第八实施例中步骤S400的细化流程示意图；
图8为本申请深度测量装置的结构示意图。
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，若本申请实施例中有涉及方向性指示（诸如上、下、左、右、前、后……），则该方向性指示仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本申请实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提出一种深度测量方法，根据被测深度区间确定检测光的发射光强，使检测光的发射光强与被测深度相匹配，从而减少深度测量过程中的能耗。
在本申请的第一实施例中，如图1所示，该深度测量方法包括以下步骤：
步骤S100、获取被测深度区间；
通常，可被测量的整个深度范围相对较大，对应于整个深度范围中的不同深度，所需的检测光的发射光强也是不同的。通过将整个深度范围划分为若干个深度区间，并获取被测深度所在的区间，在每个被测深度区间中，深度之间差别较小，可以采用同一发射光强的检测光实现深度的测量。获取被测深度区间只是对被测深度的估计，所需的精确度要求较低，存在多种获取被测深度区间的方式。例如，在被测深度区间的数目较少的情况下，例如只有两或三个被测深度区间时，可以通过发射一中间强度的检测光脉冲，并接收该检测光被反射的反射光，根据反射光确定被测深度区间。或者，可以按照最强发射光强发射一检测光脉冲，以确定被测深度区间，后文中还将详细阐述。或者，测量人员也可以在给出深度测量指令时，将被测深度区间的相关信息包含在深度测量指令中，则可以直接根据深度测量指令，获取被测深度区间。
步骤S200、根据被测深度区间，确定检测光的第一预设光强；
对于不同的被测深度区间而言，所需的检测光的发射光强也不同，具体的，被测深度区间所对应的深度越深，所需的检测光的发射光强也就越大。深度区间和检测光的发射光强之间的对应关系可以预先通过实验或模拟标定。在测量深度的过程中，根据所获取的被测深度区间，结合深度区间和检测光的发射光强之间的对应关系，确定本次测量所需的检测光的第一预设光强。
步骤S300、按照第一预设光强发射检测光，并接收检测光被反射产生的第一反射光；
在深度测量过程中，按照第一预设光强发射检测光，并接收检测光被反射产生的第一反射光。第一反射光被当前所测量的最深处的障碍物所反射产生，为了保障检测光的准直性，排除其他障碍物对深度检测过程的干扰，通常以激光作为检测光。并且，检测光是经过编码或特征化的结构光，包括具有一定规律的光点阵、光条纹或光面等，可以通过光点、光缝、光栅、网格、柱面透镜等生成。当结构光投射到障碍物上时，对应所形成的深度图像中具有易于匹配的特征点，从而有利于提高测量精度，降低测量难度。为了保障深度测量的灵敏性和准确性，及时反映深度的变化，检测光通常是实时发射或按照预设时间间隔发射的，相应的，第一反射光的接收是实时接收或按照预设时间间隔接收的。
步骤S400、根据第一反射光确定被测深度。
根据第一反射光，可以得到反映出被测深度位置上障碍物的表面信息的深度图像。通过对深度图像进行噪声过滤、图像处理等，提取出其中与结构光相对应的特征点，并得到特征点的位置坐标，进一步通过模式识别确定障碍物的表面形状，并结合发射检测光的光发射件和接收第一反射光的光接收件在空间中的位置坐标等参数，利用三角法测量原理可以得到被测深度。
在本实施例中，深度测量方法包括以下步骤：获取被测深度区间；根据被测深度区间，确定检测光的第一预设光强；按照第一预设光强发射检测光，并接收检测光被反射产生的第一反射光；根据第一反射光确定被测深度。通过根据被测深度区间确定检测光的第一预设光强，并以第一预设光强发射检测光，从而使检测光的发射光强与被测深度相匹配，避免始终以最大光强发射检测光，从而降低了光发射件的功率，避免光发射件的温度快速上升，以减小安全隐患，同时也有利于降低深度测量过程中的能耗。
基于上述第一实施例，在本申请的第二实施例中，如图2所示，步骤S100包括：
步骤S110、按照第二预设光强发射检测光，并接收检测光被反射产生的第二反射光；
步骤S120、根据第二反射光确定被测深度区间；
其中，第二预设光强大于或等于第一预设光强。
在本实施例中，第二预设光强对应于深度测量过程中光发射件所发射的最大光强，以尽可能覆盖到最深的被测深度范围。当以第二预设光强发射检测光时，该检测光脉冲所能检测的深度范围是最大的，因此在排除其他干扰的情况下，通过一次发射第二预设光强的检测光即可确定被测深度区间。在确定被测深度区间之后，再根据第一实施例中具体的深度检测方法，实现深度的测量。当然，在存在偶然干扰的情况下，若第一次以第二预设光强发射检测光时，未能确定被测深度范围，也可以再发射一次第二预设光强的检测光进行弥补。在深度测量过程中，一次或少数几次以第二预设光强发射检测光所消耗的能量较低，对整个深度测量过程中的能耗影响较小，且有利于提高确定被测深度区间的效率，改善深度测量的效果。
基于上述各实施例，如图3所示，在本申请的第三实施例中，在步骤S100之前，深度测量方法还包括以下步骤：
步骤S510、按照预设规律改变检测光的光强；
步骤S520、在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像；
步骤S530、计算预设数目的深度图像中深度的离散程度；
步骤S540、比对离散程度和预设离散程度；
步骤S550、确定使离散程度小于预设离散程度的检测光的最小光强，记为与待标定深度对应的第三预设光强。
在正式进行深度测量之前，通常还需要通过实验对深度与检测光的发射光强之间的对应关系进行标定，一方面便于根据被测深度区间确定检测光的第一预设光强；另一方面也可以作为后续测量深度的参考，以估计深度测量的准确性。在标定过程中，对于一特定的待标定深度，在待标定深度所在的位置上设置一标定物体，为了简化标定，该标定物体朝向检测光的一面可以设置为平面，并且该平面位于待标定深度上。在检测光的当前光强下，获取预设数目的深度图像，该预设数目的深度图像对应于位于待标定深度的标定物体，反映了标定物体面向检测光一侧的表面信息。进一步计算深度图像所反馈的深度的离散程度，以确定当前的检测光的发射光强是否足够支持稳定可靠的深度测量。对于一般的标定物体而言，在检测光的发射光强一定的情况下，对于不同的深度图像，其中同一位置上所有预设数目的深度在理论上应该是一致的。而特别的，对于朝向检测光一面为平面，且该平面位于待标定深度上的标定物体而言，所有的深度图像中，各点的深度在理论上均一致。离散程度具体可以是方差、标准差等，在一具体示例中，通过计算深度图像中深度的标准差，确定检测光的光强是否足够。在计算深度标准差时，可以按照预设步长将深度图像划分为一定数目的像素进行计算。当离散程度小于预设离散程度时，表明当前检测光的光强是足够的，可以进一步减小检测光的光强，以确定更弱的检测光光强是否依然满足测量条件；当离散程度大于或等于预设离散程度时，表明当前检测光的光强不足，通过适当增大检测光的光强，找出符合当前深度测量要求的检测光光强。最终，以使离散程度小于预设离散程度的检测光的最小光强，作为与当前被标定的深度对应的第三预设光强，从而在保障当前待标定深度可以被正常可靠测量的前提下，尽可能减少检测光发射所需的能耗。在标定各深度对应的检测光的发射光强时，可以按照预设规律改变检测光的光强，以提高标定效率，避免反复改变检测光的光强，具体可以按照由大到小的规律改变检测光的光强，或者按照由小到大的规律改变检测光的光强。当按照由大到小的规律改变检测光的光强时，则以离散程度第一次大于或等于预设离散程度时，之前一次的检测光的光强作为与当前待标定深度对应的第三预设光强。当按照由小到大的规律改变检测光的光强时，则以离散程度第一次小于预设离散程度时，检测光的光强作为与待标定深度对应的第三预设光强。
基于上述第三实施例，如图4所示，在本申请的第四实施例中，在步骤S550之后，深度测量方法还包括以下步骤：
步骤S560、根据被测深度区间，确定被测深度区间的最大深度；
步骤S570、选取大于或等于最大深度的最小待标定深度；
步骤S580、将最小待标定深度对应的第三预设光强，记为与被测深度区间对应的第一预设光强。
在本实施例中，在确定被测深度区间对应的第一预设光强时，为了保障第一预设光强能够覆盖整个被测深度区间，使被测深度区间中任一深度都能被正常测量，同时尽可能减小第一预设光强以节约能耗，根据被测深度区间的最大深度确定第一预设光强。具体的，选取大于或等于最大深度的最小待标定深度，也就是说，当待标定深度中存在正好等于被测深度区间的最大深度时，选取该待标定深度对应的第三预设光强为被测深度区间对应的第一预设光强；否则，当待标定深度中不存在直接等于被测深度区间的最大深度时，则选取大于最大深度的所有待标定深度中、最小的待标定深度所对应的第三预设光强，作为该被测深度区间的第一预设光强，以保障检测光的发射光强能够覆盖整个被测深度区间。
基于上述第三实施例和第四实施例，在本申请的第五实施例中，步骤S520包括：
步骤S521、在检测光的当前光强下，按照预设时间间隔获取与位于待标定深度的标定物体所对应的深度图像，直至深度图像的数目达到预设数目；
其中，预设时间间隔为40ms~60ms。
在检测光的当前光强下，通过按照预设时间间隔连续预设数目获取深度图像，以待进一步的标定。深度图像可以通过拍摄获得。若预设时间间隔过小，在拍摄过程中产生的微小位移可能导致深度图像的准确性变差；若预设时间间隔过大，一方面降低了标定效率，另一方面测量过程也容易受到其它因素的干扰，导致深度图像之间存在差异。综上，优选的预设时间间隔为40ms~60ms，在一具体示例中，预设时间间隔为50ms，即每隔50ms获取一深度图像。
基于上述第三实施例至第五实施例，在本申请的第六实施例中，如图5所示，步骤S530包括：
步骤S531、计算预设数目的深度图像中，对应于同一位置上的所有深度的离散程度，记为深度图像中该位置的离散程度；
步骤S532、获取深度图像的所有位置中的最大离散程度，记为预设数目的深度图像中深度的离散程度。
一般情况下，由于标定物体的表面并非理想平面，并且受到标定物体的放置位置的影响，在同一幅深度图像上，各个位置的深度通常并不完全一致。但是，对于对应同一发射光强的所有深度图像中的同一位置而言，根据预设数目的深度图像所得到的深度理论上应该是一致的。通过计算预设数目的所述深度图像中，对应于同一位置上的所有深度的离散程度，可以得出该位置的离散程度，该位置的离散程度越大，表明当前光强的检测光的检测效果越差。进一步的，为了保障整个深度图像可以被完全测量，获取深度图像的所有位置中的最大离散程度，记为预设数目的深度图像中深度的离散程度。也就是说，以深度图像上检测效果最差的位置对应的离散程度作为参考标准，确定与待标定深度对应的检测光强，以保障标定的可靠性，确保最终所确定的第三预设光强能够可靠地测量到该待标定深度，进一步确保最终确定的第一预设光强能够覆盖对应的被测深度区间。例如，当检测光的发射光强为I时，获得对应于同一标定物体的十张深度图像P1、P2、…、P10。在第m幅深度图像Pm中，坐标为(xi，yi)的像素对应的深度为hm(xi，yi)。那么，首先计算各个像素对应的位置的离散程度σ(xi，yi)=σ(h1(xi，yi)，(h2(xi，yi)，(h3(xi，yi)，(h4(xi，yi)，(h5(xi，yi)，(h6(xi，yi)，(h7(xi，yi)，(h8(xi，yi)，(h9(xi，yi)，(h10(xi，yi))，在得到所有位置的离散程度σ(xi，yi)后，选取出其中最大的σmax (xi，yi)，作为预设数目的深度图像中深度的离散程度，进一步确定相应的第三预设光强。
基于上述第三实施例至第六实施例，如图6所示，在本申请的第七实施例中，在步骤S540之后，深度测量方法还包括以下步骤：
步骤S590、在检测光的光强大于或等于第四预设光强时，若离散程度大于预设离散程度，则生成第一提示信号；
其中，第四预设光强大于或等于第一预设光强。第四预设光强对应于光发射件所能发射的最大光强，当检测光的光强大于或等于第四预设光强时，若离散程度仍然大于预设离散程度，表明该光发射件所发射的检测光不可能覆盖待标定深度，或者检测光的光路存在问题，通过生成第一提示信号，提示相关人员进行检修。
在本申请的第八实施例中，如图7所示，步骤S400包括：
步骤S410、检测第一反射光的平均光强；
步骤S420、当第一反射光的平均光强小于第五预设光强时，生成第二提示信号；
其中，第五预设光强小于第一预设光强。第五预设光强对应于光接收件所能接收的最小光强。在测量过程中，当第一反射光强小于第五预设光强时，表明光发射件或光接收件出现了问题，或者是被测深度超出了测量范围，通过生成第二提示信号，提示相关人员进行检查。
本申请还提出一种深度测量装置，如图8所示，深度测量装置包括光发射件100、光接收件200、存储器300、处理器400及存储在存储器300上并可在处理器400上运行的深度测量程序，其中：光发射件100用以发射检测光；光接收件200用以接收检测光被反射产生的第一反射光。为了保障检测光和反射光的强度及准直性，保障深度测量的正常进行，光发射件100可以是激光发射件，从而使深度测量更加可靠。并且，光发射件100所发射的检测光为经过编码或特征化的结构光，包括具有一定规律的光点阵、光条纹或光面等，可以通过光点、光缝、光栅、网格、柱面透镜等生成。当结构光投射到障碍物上时，对应所形成的深度图像中具有易于匹配的特征点，从而有利于提高测量精度，降低测量难度。
处理器400可以调用存储器300中存储的深度测量程序，并执行以下操作：
获取被测深度区间；
根据被测深度区间，确定检测光的第一预设光强；
按照第一预设光强发射检测光，并接收检测光被反射产生的第一反射光；
根据第一反射光确定被测深度。
处理器400可以调用存储器300中存储的深度测量程序，获取被测深度区间的操作包括：
按照第二预设光强发射检测光，并接收检测光被反射产生的第二反射光；
根据第二反射光确定被测深度区间；
其中，第二预设光强大于或等于第一预设光强。
处理器400可以调用存储器300中存储的深度测量程序，在获取被测深度区间的操作之前，还执行以下操作：
按照预设规律改变检测光的光强；
在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像；
计算预设数目的深度图像中深度的离散程度；
比对离散程度和预设离散程度；
确定使离散程度小于预设离散程度的检测光的最小光强，记为与待标定深度对应的第三预设光强。
处理器400可以调用存储器300中存储的深度测量程序，在确定使离散程度小于预设离散程度的检测光的最小光强，记为与待标定深度对应的第三预设光强的操作之后，还执行以下操作：
根据被测深度区间，确定被测深度区间的最大深度；
选取大于或等于最大深度的最小待标定深度；
将最小待标定深度对应的第三预设光强，记为与被测深度区间对应的第一预设光强。
处理器400可以调用存储器300中存储的深度测量程序，在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像的步骤包括：
在检测光的当前光强下，按照预设时间间隔获取与位于待标定深度的标定物体所对应的深度图像，直至深度图像的数目达到预设数目；
其中，预设时间间隔为40ms~60ms。
处理器400可以调用存储器300中存储的深度测量程序，计算预设数目的深度图像中深度的离散程度的操作包括：
计算预设数目的深度图像中，对应于同一位置上的所有深度的离散程度，记为深度图像中该位置的离散程度；
获取深度图像的所有位置中的最大离散程度，记为预设数目的深度图像中深度的离散程度。
处理器400可以调用存储器300中存储的深度测量程序，在比对离散程度和预设离散程度的操作之后，还执行以下操作：
在检测光的光强大于或等于第四预设光强时，若离散程度大于预设离散程度，则生成第一提示信号；
其中，第四预设光强大于或等于第一预设光强。
处理器400可以调用存储器300中存储的深度测量程序，根据第一反射光确定被测深度的操作包括：
检测第一反射光的平均光强；
当第一反射光的平均光强小于第五预设光强时，生成第二提示信号；
其中，第五预设光强小于第一预设光强。
本申请还提出一种拍摄设备，该拍摄设备包括深度测量装置，该深度测量装置的具体结构参照上述实施例，由于本拍摄设备采用了上述所有实施例的全部技术方案，因此至少具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。其中，该拍摄设备可以是深度相机模组等。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的发明构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (20)

  1. 一种深度测量方法，其中，所述深度测量方法包括以下步骤：
    获取被测深度区间；
    根据所述被测深度区间，确定检测光的第一预设光强；
    按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；
    根据所述第一反射光确定被测深度。
  2. 如权利要求1所述的深度测量方法，其中，获取被测深度区间的步骤包括：
    按照第二预设光强发射检测光，并接收所述检测光被反射产生的第二反射光；
    根据所述第二反射光确定被测深度区间；
    其中，所述第二预设光强大于或等于所述第一预设光强。
  3. 如权利要求1所述的深度测量方法，其中，在获取被测深度区间的步骤之前，所述深度测量方法还包括以下步骤：
    按照预设规律改变检测光的光强；
    在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像；
    计算预设数目的所述深度图像中深度的离散程度；
    比对所述离散程度和预设离散程度；
    确定使所述离散程度小于所述预设离散程度的检测光的最小光强，记为与所述待标定深度对应的第三预设光强。
  4. 如权利要求3所述的深度测量方法，其中，在确定使所述离散程度小于所述预设离散程度的检测光的最小光强，记为与所述待标定深度对应的第三预设光强的步骤之后，所述深度测量方法还包括以下步骤：
    根据被测深度区间，确定所述被测深度区间的最大深度；
    选取大于或等于所述最大深度的最小待标定深度；
    将所述最小待标定深度对应的第三预设光强，记为与所述被测深度区间对应的第一预设光强。
  5. 如权利要求3所述的深度测量方法，其中，在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像的步骤包括：
    在检测光的当前光强下，按照预设时间间隔获取与位于待标定深度的标定物体所对应的深度图像，直至所述深度图像的数目达到所述预设数目；
    其中，所述预设时间间隔为40ms~60ms。
  6. 如权利要求3所述的深度测量方法，其中，计算预设数目的所述深度图像中深度的离散程度的步骤包括：
    计算预设数目的所述深度图像中，对应于同一位置上的所有深度的离散程度，记为所述深度图像中该位置的离散程度；
    获取所述深度图像的所有位置中的最大离散程度，记为预设数目的所述深度图像中深度的离散程度。
  7. 如权利要求3所述的深度测量方法，其中，在比对所述离散程度和预设离散程度的步骤之后，所述深度测量方法还包括以下步骤：
    在所述检测光的光强大于或等于第四预设光强时，若所述离散程度大于所述预设离散程度，则生成第一提示信号；
    其中，所述第四预设光强大于或等于所述第一预设光强。
  8. 如权利要求1所述的深度测量方法，其中，根据所述第一反射光确定被测深度的步骤包括：
    检测所述第一反射光的平均光强；
    当所述第一反射光的平均光强小于第五预设光强时，生成第二提示信号；
    其中，所述第五预设光强小于所述第一预设光强。
  9. 一种深度测量装置，其中，所述深度测量装置包括光发射件、光接收件、存储器、处理器及存储在所述存储器上并可在所述处理器上运行的可执行指令，其中：
    所述光发射件用以发射检测光；
    所述光接收件用以接收所述检测光被反射产生的第一反射光；
    所述可执行指令包括：
    获取被测深度区间；
    根据所述被测深度区间，确定检测光的第一预设光强；
    按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；
    根据所述第一反射光确定被测深度。
  10. 如权利要求9所述的深度测量装置，其中，所述可执行指令包括：
    按照第二预设光强发射检测光，并接收所述检测光被反射产生的第二反射光；
    根据所述第二反射光确定被测深度区间；
    其中，所述第二预设光强大于或等于所述第一预设光强。
  11. 如权利要求9所述的深度测量装置，其中，所述可执行指令包括：
    按照预设规律改变检测光的光强；
    在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像；
    计算预设数目的所述深度图像中深度的离散程度；
    比对所述离散程度和预设离散程度；
    确定使所述离散程度小于所述预设离散程度的检测光的最小光强，记为与所述待标定深度对应的第三预设光强。
  12. 如权利要求11所述的深度测量装置，其中，所述可执行指令包括：
    根据被测深度区间，确定所述被测深度区间的最大深度；
    选取大于或等于所述最大深度的最小待标定深度；
    将所述最小待标定深度对应的第三预设光强，记为与所述被测深度区间对应的第一预设光强。
  13. 如权利要求11所述的深度测量装置，其中，所述可执行指令包括：
    在检测光的当前光强下，按照预设时间间隔获取与位于待标定深度的标定物体所对应的深度图像，直至所述深度图像的数目达到所述预设数目；
    其中，所述预设时间间隔为40ms~60ms。
  14. 如权利要求11所述的深度测量装置，其中，所述可执行指令包括：
    计算预设数目的所述深度图像中，对应于同一位置上的所有深度的离散程度，记为所述深度图像中该位置的离散程度；
    获取所述深度图像的所有位置中的最大离散程度，记为预设数目的所述深度图像中深度的离散程度。
  15. 如权利要求11所述的深度测量装置，其中，所述可执行指令包括：
    在所述检测光的光强大于或等于第四预设光强时，若所述离散程度大于所述预设离散程度，则生成第一提示信号；
    其中，所述第四预设光强大于或等于所述第一预设光强。
  16. 如权利要求9所述的深度测量装置，其中，所述可执行指令包括：
    检测所述第一反射光的平均光强；
    当所述第一反射光的平均光强小于第五预设光强时，生成第二提示信号；
    其中，所述第五预设光强小于所述第一预设光强。
  17. 一种拍摄设备，其中，所述拍摄设备包括深度测量装置，所述深度测量装置包括光发射件、光接收件、存储器、处理器及存储在所述存储器上并可在所述处理器上运行的可执行指令，其中：
    所述光发射件用以发射检测光；
    所述光接收件用以接收所述检测光被反射产生的第一反射光；
    所述可执行指令包括：
    获取被测深度区间；
    根据所述被测深度区间，确定检测光的第一预设光强；
    按照所述第一预设光强发射检测光，并接收所述检测光被反射产生的第一反射光；
    根据所述第一反射光确定被测深度。
  18. 如权利要求17所述的拍摄设备，其中，所述可执行指令包括：
    按照第二预设光强发射检测光，并接收所述检测光被反射产生的第二反射光；
    根据所述第二反射光确定被测深度区间；
    其中，所述第二预设光强大于或等于所述第一预设光强。
  19. 如权利要求17所述的拍摄设备，其中，所述可执行指令包括：
    按照预设规律改变检测光的光强；
    在检测光的当前光强下，获取预设数目的与位于待标定深度的标定物体所对应的深度图像；
    计算预设数目的所述深度图像中深度的离散程度；
    比对所述离散程度和预设离散程度；
    确定使所述离散程度小于所述预设离散程度的检测光的最小光强，记为与所述待标定深度对应的第三预设光强。
  20. 如权利要求17所述的拍摄设备，其中，所述可执行指令包括：
    检测所述第一反射光的平均光强；
    当所述第一反射光的平均光强小于第五预设光强时，生成第二提示信号；
    其中，所述第五预设光强小于所述第一预设光强。
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