CN109990734A - Depth information camera module precision automatic checkout system and its accuracy checking method - Google Patents

Abstract

The invention discloses a depth information camera module precision automatic checkout system and its accuracy checking methods, the automatic checkout system is used for the depth measurement accuracy detection of a depth information camera module comprising: a plane rectification system, a true value measurement system and a control processing system.Wherein the control processing system is communicatively coupled with the plane correction system, for adjusting the depth of parallelism between depth information camera module place plane and a plane test chart.The true value measurement system is communicatively coupled with the control processing system, according to command adapted thereto, to adjust the distance between plane and the plane test chart where the depth information camera module.

Description

Depth information camera module precision automatic checkout system and its accuracy checking method

Technical field

The present invention relates to a depth information camera module more particularly to an automatic detection systems of depth information camera module precision System and its accuracy checking method.

Background technique

With the development of machine vision, the acquisition of two-dimensional image information has been no longer satisfied with for the demand of camera module. In recent years, with 3D imaging, ranging, the germinating of the emerging application demand such as body feeling interaction, optical three-dimensional measurement technology gradually at It is ripe.Currently, mode, respectively technique of binocular stereoscopic vision there are mainly three types of the optical 3-dimensional depth measurement cognition technologies of mainstream, Structured light technique and TOF depth perception technology, are widely used industrial automation, multimedia, consumer electronics, and safety is supervised Control, health medical treatment, robot, the every field such as agricultural are made that important contribution to industry transformation.

Cognition technology is measured corresponding to these three three dimensional depths, develops binocular depth information camera module, structure respectively Optical depth information camera module and TOF depth information camera module.Diversification and deepening development with the application of product, Requirement to the product quality of depth camera mould group information is gradually increased.However, as depth information camera module Quality Weighting The accuracy detection of one of major criterion but remains at theory stage or simple test analysis stage, this takes the photograph depth information As the skill upgrading and product improvement of mould group cause huge obstruction.

It is well known that since depth information camera module is by the limitation of itself imaging system, during depth measurement, All multiple errors, such as object edge overlay error, exposure error, camera lens bending error, temperature drift error, range error can be generated Deng.In industry, such error is classified as static error, it is characterized in that the frequency of occurrences is high, the form of expression is relatively fixed, can lead to Relatively simple backoff algorithm is crossed to be eliminated.It should be noted that during carrying out error concealment using backoff algorithm, it should The accuracy detection process of depth measurement device is that its (depth information camera module) provides important measurement parameters, and precision determines The final effect of error concealment.

At present in industry, widespread practice is the depth information camera module to be clamped using a fixture, and pass through and analyze it Depth measurement between a plane test chart and accuracy detection is carried out apart from true value.Such way simple coarse, Introducing error is larger and uncontrollable, and accuracy detection quality is difficult to ensure.More specifically, during accuracy detection, Ying Xian Ensure where the depth information camera module clamped by fixture keeping parallelism between plane and the plane test chart, however it is logical The mode for crossing the clamping of simple clamping device obviously can not accurately guarantee parallel relation between the two, and then influence subsequent Accuracy detection.

Further, during accuracy detection, the depth information camera module (place clamped by fixture need to be changed The distance between plane) and the plane test chart.However, in the mobile fixture to change the depth information camera module where Between plane and the plane test chart during distance, plane where the depth information camera module clamped by fixture with Relative positional relationship between the plane test chart changes, parallel relation especially between the two, and measurement is caused to miss The introducing of difference.The error has random fluctuation, uncontrollable feature, influences final accuracy detection quality.

In addition, traditional accuracy detection is strongly dependent on the working experience of testing staff, carried out by the experience of its many years Quality control.It should be appreciated that being, in industrial processes, human factor is unstable, it is difficult to meet standardized production requirement；Together When, high labor cost, inefficiency.

Therefore, in industry, for a kind of demand of automation platform that can carry out accuracy detection to depth measurement device It is extremely strong.

Summary of the invention

The main purpose of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system is capable of providing relatively high quality depth information camera module accuracy detection.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system is suitable for various types of depth information camera modules, such as binocular depth is believed Cease camera module, structure light depth information camera module and TOF depth information camera module etc., that is to say, that the precision Automatic checkout system has relatively good versatility.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system automatically can carry out accuracy detection, benefit to the depth information camera module In industrialization, standardization and efficiency with higher.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system includes a plane correction system, for adjustably ensuring that the depth information is taken the photograph The depth of parallelism as where mould group between plane and a plane test chart, to ensure detection accuracy.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the plane correction system can according to plane where depth information camera module and the plane test chart it Between parallel misalignment information correspondingly adjusted so that plane where depth information camera module and the plane are tested The depth of parallelism is guaranteed between target.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the plane correction system includes a parallelism detecting device and a parallelism adjusting instrument, the depth of parallelism Detection device is described for detecting the parallel misalignment between depth information camera module place plane and the plane test chart Parallelism adjusting instrument for according to measure plane where resulting parallel misalignment information adjusts the depth information camera module or Plane where the plane test chart, so that the depth information camera module is protected with the plane test chart depth of parallelism Card.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system includes a true value measurement system, the true value measurement system is for according to instruction The distance between plane and the plane test chart where adjusting the depth information camera module.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein changing between the depth information camera module and the plane test chart by the true value measurement system During distance, the depth of parallelism where the depth information camera module between plane and the plane test chart is kept not Become, to improve accuracy detection quality.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the plane correction system is physically integrally combined with the true value measurement system, so that described Precision automatic checkout system has comparatively integrated structure.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein described include a driving device apart from true value system, the driving device is for changing depth information camera shooting mould Group is at a distance from the plane test chart.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system includes a control processing system, wherein the control processing system can communicate Ground is connected to the plane correction system and described apart from true value test macro, with control the plane correction system carry out it is parallel Degree calibration and control it is described change the depth information camera module at a distance from the plane test chart apart from true value system, go forward side by side Row accuracy detection analytical calculation.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the control processing system includes an instruction module, described instruction module, which is equipped with, controls the plane correction system System and the dependent instruction apart from true value system, wherein described instruction module has the function of editable according to different depth The corresponding instruction of type setting of information camera module, to improve the versatility of the precision automatic checkout system.

Another object of the present invention is to provide a depth information camera module precision automatic checkout systems and its precision to examine Survey method, wherein the precision automatic checkout system measurement accuracy with higher, to be provided more accurately for backoff algorithm Test data and more accurate matched curve is provided for correction error, thus to the quality for promoting the depth information camera module It provides safeguard.

By following description, other advantages of the invention and feature will be become apparent, and can pass through right The means and combination particularly pointed out in claim are accomplished.

According to the present invention, aforementioned and other purposes and advantage can be detected automatically by a depth information camera module precision System is implemented, and is used for the accuracy detection of a depth information camera module comprising:

One plane correction system；

One true value measurement system；With

One control processing system, the plane correction system and the true value measurement system are communicatively coupled with the control Processing system processed, wherein the plane correction system is matched with the control processing system, for adjusting depth information camera shooting The depth of parallelism where mould group between plane and a plane test chart, the true value measurement system is according to the control processing system Command adapted thereto, adjust and measure the distance between the depth information camera module and the plane test chart information, with carry out Accuracy detection.

In an embodiment of invention, the plane correction system includes that a parallelism detecting device and a depth of parallelism adjust Device, wherein the parallelism detecting device and the depth information camera module are in same plane, for detecting the depth information Depth of parallelism information where camera module between plane and the plane test chart, wherein the parallelism adjusting instrument can communicate Ground is connected to the parallelism detecting device, to adjust depth information camera module place plane according to the depth of parallelism information, To ensure the depth of parallelism between the depth information camera module and the plane test chart.

In an embodiment of invention, the plane correction system includes that a parallelism detecting device and a depth of parallelism adjust Device, wherein the parallelism detecting device and the depth information camera module are in same plane, for detecting the depth information Parallel misalignment information where camera module between plane and the plane test chart, wherein the parallelism adjusting instrument can It is communicatively coupled to the plane test chart, to adjust the plane test chart according to the parallel misalignment information, to ensure State the depth of parallelism between depth information camera module and the plane test chart.

In one embodiment of this invention, the plane correction system includes the ranging at least three no longer same straight lines Unit, the distance measuring unit and the depth information camera module are in same plane, wherein the distance measuring unit for detecting respectively The distance measuring unit is the distance between to the plane test chart, to obtain the parallel misalignment information.

In one embodiment of this invention, the plane correction system includes a loading plate, and wherein the depth information is taken the photograph The loading plate is installed on as mould group and is in same plane with the loading plate, is somebody's turn to do with being formed by the loading plate Plane where depth information camera module, wherein the distance measuring unit be installed on the loading plate and at the loading plate In same plane.

In one embodiment of this invention, the distance measuring unit is implemented as laser ranging unit.

In one embodiment of this invention, the true value measurement system include a driving device, the driving device according to Plane where command adapted thereto controllably drives the depth information camera module is away from or approaching the plane test chart, to change The depth information camera module is at a distance from the plane test chart.

In one embodiment of this invention, wherein the control processing system includes an instruction module, a deep analysis mould Block, an accuracy detection module and a communication module, wherein described instruction module passes through the communication module and the plane correction Command adapted thereto transmission is carried out between system and the true value measurement system is surveyed with controlling the plane correction system and the true value Amount system, the deep analysis module are communicatively coupled with the depth information camera module to take the photograph for obtaining the depth information As mould group depth information collected, the accuracy detection unit by depth information provided by the deep analysis module with It is described to carry out precision analysis apart from true value information.

Other side under this invention, the present invention further provides the depth information camera module precision sides of detection automatically Method, wherein the detection method includes the following steps:

(a) pass through the plane and a plane test chart where one depth information camera module of a plane rectification system call interception The depth of parallelism；With

(b) pass through the plane and plane test where depth information camera module described in a true value measurement system call interception The distance between target, to be detected using precision of the plane test chart to the depth information camera module.

In one embodiment of this invention, further comprise step in the step (a):

The plane and plane test where the depth information camera module are detected by a parallelism detecting device The depth of parallelism between target, to obtain a depth of parallelism information；With

The depth information camera module place is adjusted according to the depth of parallelism information by a parallelism adjusting instrument Plane and the plane test chart relative position mode adjust plane where the depth information camera module with The depth of parallelism of the plane test chart.

In one embodiment of this invention, further comprise step in the step (a):

The depth information camera module same plane is set to a loading plate；

The depth of parallelism between the loading plate and the plane target is detected by a parallelism detecting device, to obtain One depth of parallelism information；And

The loading plate is adjusted according to the depth of parallelism information by a parallelism adjusting instrument and the plane is surveyed Plane where the mode of the relative position of test-object plate adjusts the depth information camera module is parallel with the test chart Degree.

By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated.

These and other objects of the invention, feature and advantage, by following detailed descriptions, drawings and claims are obtained To fully demonstrate.

Detailed description of the invention

Fig. 1 is that a depth information camera module precision automatic checkout system block diagram of a preferred embodiment according to the present invention shows It is intended to.

Fig. 2 is that the solid of the depth information camera module precision automatic checkout system according to above-mentioned preferred embodiment is shown It is intended to.

Fig. 3 is a plane of the depth information camera module precision automatic checkout system according to above-mentioned preferred embodiment The operation schematic diagram of correction system.

Fig. 4 is a true value of the depth information camera module precision automatic checkout system according to above-mentioned preferred embodiment The operation schematic diagram of measuring system.

Fig. 5 is the vertical of a depth information camera module precision automatic checkout system of another preferred embodiment according to the present invention Body schematic diagram.

Fig. 6 is one of the depth information camera module precision automatic checkout system according to above-mentioned another preferred embodiment The operation schematic diagram of plane correction system.

Fig. 7 is one of the depth information camera module precision automatic checkout system according to above-mentioned another preferred embodiment The operation schematic diagram of true value measurement system.

Fig. 8 is that the depth information camera module precision automatic checkout system of above-mentioned preferred embodiment according to the present invention is another One block diagram representation.

Specific embodiment

It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back Other technologies scheme from the spirit and scope of the present invention.

It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper", The orientation of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" or position are closed System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to Show or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned art Language is not considered as limiting the invention.

It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment, unitary The quantity of part can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " cannot understand For the limitation to quantity.

As shown in Figures 1 to 4, a depth information camera module precision automatic checkout system according to the present invention is elucidated with, Wherein the precision automatic checkout system automatically can carry out accuracy detection to the depth information camera module 50 and have phase To higher accuracy detection quality.

As shown in Figure 1, the precision automatic checkout system includes a plane correction system 20,30 He of a true value measurement system One control processing system 40, wherein the control processing system 40 is communicatively coupled with the plane correction system 20 and described True value measurement system 30, for detecting the depth measurement precision of a depth information camera module.It is noted that in the present invention In, the depth measurement precision P of the depth information camera module 50 is represented by the depth of the depth information camera module 50 measurement Actual distance t (true value) relative populations relationship between value d and 50 to the one plane test chart 10 of depth information camera module, Wherein the depth measurement precision P of the depth information camera module 50, the depth information camera module 50 measurement depth value d and Actual distance t between the depth information camera module 50 and the plane test chart 10 meets following relationship:

Specifically, the plane correction system 20 is matched with the control processing system 40, for adjusting the depth information The depth of parallelism between 50 place plane of camera module and the plane test chart 10, so that the depth information camera module 50 Place plane is parallel with the plane test chart 10., it will be appreciated that when the 50 place plane of depth information camera module with When being in parastate between the plane test chart 10, pass through the depth information camera module 50 depth information collected Depth value d between camera module 50 and the plane test chart 10 represent the 50 place plane of depth information camera module with Measurement distance value between the plane test chart 10.Correspondingly, flat with this when the 50 place plane of depth information camera module When being in parastate between face test chart 10, between the 50 place plane of depth information camera module and the plane target Can directly it be known by other measurement methods apart from true value, by means of the depth as a result, by comparing the depth information camera module 50 Value and this detection of the measurement accuracy of the depth information camera module 50 can be realized apart from true value.Therefore, make the depth information Plane where camera module 50 is parallel with the plane test chart 10 for improving to the depth information camera module 50 Measurement accuracy is very important.

Further, the true value measurement system 30 is matched with the control processing system 40, for adjusting depth letter The relative positional relationship between 50 place plane of camera module and the plane test chart 10 is ceased, it should under different distance to obtain The measurement accuracy value of depth information camera module 50.Particularly, in presently preferred embodiment of the invention, passing through the true value Measuring system 30 adjusts the relative distance between the 50 place plane of depth information camera module and the plane test chart 10 In the process, the 50 place plane of depth information camera module and the plane test chart 10 are in parastate always, to ensure The accuracy detection of the depth information camera module 50 has better quality under different distance.

As shown in Fig. 2, the plane correction system 20 include a parallelism detecting device 21 be connected to it is described parallel A parallelism adjusting instrument 22 of detection device 21 is spent, wherein the parallelism detecting device 21 and the depth information camera module 50 are in same plane, parallel between the 50 place plane of depth information camera module and the plane test chart 10 to detect Spend information.Particularly, parallel when being not between the 50 place plane of depth information camera module and the plane test chart 10 When state, the parallelism adjusting instrument 22 adjusts the depth according to the depth of parallelism information detected of parallelism detecting device 21 50 place plane of information camera module is spent, is recycled by this method, finally to put down where the depth information camera module 50 The depth of parallelism of face and the plane test chart 10 meets certain required precision.In other words, the parallelism adjusting instrument 22 can According to the parallelism detecting device 21 depth of parallelism information detected to adjust where the information camera module 50 Plane adjusts the plane and the plane where the depth information camera module 50 relative to the state of the parallel testing target 10 The depth of parallelism of test chart 10.

As previously mentioned, should first ensure that the depth during carrying out the accuracy detection of the depth information camera module 50 It is parallel with the plane test chart 10 to spend 50 place plane of information camera module.In the prior art, between the two parallel Relationship clamps the depth information camera module 50 by a fixture to keep.That is, in the prior art, the depth information 50 place plane of camera module is as set by the fixture.However, due to the fixture with the plane test chart 10 setting separately It sets, the 50 place plane of depth information camera module set by the fixture, which is difficult to ensure, keeps flat with the plane test chart 10 Row.For the angle of solid geometry, the 50 place plane of depth information camera module set by the fixture and the plane are surveyed It is parallel that test-object plate 10 belongs to space plane, it is difficult to it is calibrated by simple mechanical structure, it is let alone only solid by the fixture Fixed mode.

Correspondingly, in the preferred implementation of the invention, the plane correction system 20 includes a loading plate 23, wherein The depth information camera module 50 and the parallelism detecting device 21 are installed on the loading plate 23, to pass through the carrying Plate 23 sets the 50 place plane of depth information camera module.Particularly, described flat in presently preferred embodiment of the invention Row degree detection device 21 is installed on the loading plate 23 and is arranged with 23 same plane of loading plate, so as to logical It crosses the parallelism detecting device 21 and the parallelism adjusting instrument 22 adjusts the loading plate 23 and marks with plane test The depth of parallelism between plate 10.More specifically, it is in same with the loading plate 23 due to the parallelism detecting device 21 Plane, therefore, the parallelism detecting device 21 depth of parallelism information detected are that the loading plate 23 is tested with the plane Depth of parallelism information between target 10, so as to change according to the depth of parallelism information and by the parallelism adjusting instrument 22 The relative position between the plane test chart 10 of the loading plate 23 so that be in parastate between the two.

Further, in presently preferred embodiment of the invention, which is installed on the carrying Plate 23, and it is in same plane with the loading plate 23, in this way, so that the depth information camera module 50 place planes are overlapped with the loading plate 23.In other words, in the preferred implementation of the invention, the load plane 23 is set The fixed 50 place plane of depth information camera module.Therefore, to adjust the carrying by the parallelism adjusting instrument 22 flat It is to adjust the depth information camera module 50 substantially when relative position between plate 23 and the plane test chart 10 Relative positional relationship between place plane and the plane test chart 10.That is, when the loading plate 23 is conditioned When extremely parallel with the plane test chart 10, in flat between the depth information camera module 50 and the plane test chart 10 Row relationship.

, it will be appreciated that the loading plate 23 provides a plane of reference for the angle of solid geometry, dexterously will Ensure the 50 place plane of the depth information camera module technical problem parallel with the plane test chart 10, being converted into ensures this The technical issues of depth information camera module 50 and the plane of reference same plane.It should be noted that in the present invention, depth letter Breath camera module 50 is installed on the load plane, thereby it is ensured that the depth information camera module 50 and the loading plate 23 The technical issues of in same plane, is by a relatively simple and easy to accomplish.For example, installing the depth information camera module 50 When the loading plate 23, the leading flank of the depth information camera module 50 and the leading flank of the loading plate 23 can be passed through It is flush, it is ensured that the depth information camera module 50 and the loading plate 23 are in same plane, further, this field Technical staff should be readily apparent that, can also be by lock, detent, and the mechanical means such as spiral micrometer instrument fine tuning are positioningly by the depth Information camera module 50 is installed on the loading plate 23, so that the depth information camera module 50 and the loading plate 23 In same plane.

It is noted that the depth information camera module 50 may be selected from but not limited to binocular depth information camera module, Structure light depth information camera module and TOF depth information camera module.That is, the precision provided by the present invention is certainly Dynamic detection system has relatively good versatility.It should be noted that correspond to different depth information camera module types, it should The type of plane test chart 10 can make corresponding adjustment, so that the depth information camera module 50 carries out depth measurement. For example, the depth information camera module 50 is implemented as TOF depth information camera shooting in a specific embodiment of the invention Mould group.Corresponding to the depth measuring features of TOF depth camera mould group, the plane test chart 10, it is preferable that select white, table Face is smooth, the material for having diffusing reflection but not reflecting, so that TOF depth information camera module tests table to the plane Face carries out depth measurement.

Further, the parallelism detecting device 21 for detect the loading plate 23 and the plane test chart 10 it Between depth of parallelism information.Correspondingly, as shown in figure 3, in presently preferred embodiment of the invention, the parallelism detecting device 21 Including at least three distance measuring units 210, wherein the distance measuring unit 210 is installed on the loading plate 23 and three is not the same as always Line., it will be appreciated that not determining a plane, therefore the ranging at collinear 3 points for the angle of plane geometry The plane and the 23 place plane of loading plate that unit 210 is defined are same plane, in this way, so that institute It is flat between the loading plate 23 and the plane test chart 10 to state the depth of parallelism information of the detection of parallelism detecting device 21 Row degree information.

During specific parallelism detection, the distance measuring unit 210 for measuring itself and the plane test chart respectively The distance between 10, respectively d1, d2, d3.It should be noted that the distance measuring signal of the distance measuring unit 210 be set perpendicular to The 23 place plane of loading plate, therefore, the d1, d2, d3 are respectively the loading plate 23 at the distance measuring unit 210 The distance between to the plane test chart 10.Certainly, it will be apparent to a skilled person that of the invention other one In a little examples, the plane where the distance measuring signal of the distance measuring unit 210 and the load plane 23 have angle can also, but must It must guarantee that the distance measuring signal of three distance measuring units 2110 is consistent with the angle of plane where the loading plate 23.Example Such as, in a specific embodiment of the invention, the distance measuring unit 210 is to be embodied as a laser ranging unit, and outgoing swashs Light is perpendicular to the loading plate., it will be appreciated that when the range information measured by the distance measuring unit 210 is equal, i.e. d1 =d2=d3, at this point, it is parallel with the plane test chart 10 to characterize the loading plate 23.That is, at this point, the depth It is parallel with the plane test chart 10 to spend 50 place plane of information camera module.Correspondingly, when the distance measuring unit 210 is surveyed Range information it is unequal when, at this point, characterize the loading plate 23 and the plane test chart 10 is not parallel, i.e. the depth There are parallel misalignments between degree 50 place plane of information camera module and the plane test chart 10.Further, this is parallel Degree deviation information can be transmitted to the parallelism adjusting instrument 22, and the parallelism adjusting instrument 22 is believed according to this parallel misalignment Breath adjusts the position of the loading plate 23, so that the depth of parallelism between the loading plate 23 and the plane test chart 10 Meet certain required precision, i.e., it is parallel between the 50 place plane of depth information camera module and the plane test chart 10 Degree meets certain required precision.

It is noted that preferably, the parallel misalignment information acquired in the parallelism detecting device 21 can pass The control processing system 40 is transported to, and the parallelism adjusting instrument 22 is driven by the control processing system 40 control, In the form of changing the position of the loading plate 23.That is, the control processing system 40 is used as the entire precision certainly The control brain of motion detection device integrates the control instruction of the precision automatic detection device.In other words, the control processing system System 40 can control the depth of parallelism adjustment dress according to the parallelism detecting device 21 parallel misalignment information obtained 22 state is set, to adjust the loading plate 23 and the plane test chart subsequent by the parallelism adjusting instrument 22 10 depth of parallelism.

Correspondingly, in the preferred implementation of the invention, the parallelism adjusting instrument 22 is physically connected to described hold Plate 23 is carried, to drive the loading plate 23 to do and revolve according to the parallelism detecting device 21 depth of parallelism information collected Transhipment is dynamic, finally to make the depth of parallelism between the 50 place plane of depth information camera module and the plane test chart 10 full The certain required precision of foot., it will be appreciated that in the present invention, the 50 place plane of depth information camera module and the plane are surveyed Parallelism precision between test-object plate 10 depends on the ranging essence of the distance measuring unit 210 of the parallelism detecting device 21 Degree.It is therefore preferred that the distance measuring unit 210 of the parallelism detecting device 21 should have relatively high precision to mention Parallelism precision between the high 50 place plane of depth information camera module and the plane test chart 10.

In one embodiment of this invention, the distance measuring unit 210 is implemented as laser ranging unit 210, ranging essence Degree need to be higher than the depth measurement precision of the depth information camera module 50.For example, in a specific embodiment of the invention, the depth Degree information camera module 50 is implemented as a TOF depth information camera module, and depth measurement precision is 1%, correspondingly, described The measurement accuracy of laser ranging unit 210 needs the height TOF depth information camera module, such as 0.1%.More specifically, institute Laser ranging unit 210 is stated in not exclusively the loading plate 23 is installed in collinear mode, to pass through the laser Range information acquired in distance measuring unit 210 (depth of parallelism information) adjusts the loading plate 23 and the plane test chart 10 Between relative positional relationship., it will be appreciated that the 50 place plane of depth information camera module and the plane test chart 10 Between parallelism detection precision depend on the laser ranging unit 210 measurement accuracy, it is therefore preferred that in order to improve Parallelism precision between the 50 place plane of depth information camera module and the 10 place plane of plane test chart, Ying Xuanyong The relatively higher laser ranging unit 210 of measurement accuracy.It is noted that those skilled in the art should be easy to think It arrives, the distance measuring unit 210 can equally be implemented as other range units, such as supersonic range finder, only need its ranging smart Degree meets certain required precision.That is, in the present invention, the type of the distance measuring unit 210 is not this hair It is bright to be limited to.

It should be noted that in the present invention, it is flat between the plane test chart 10 and the depth information camera module 50 The adjustment of row degree is opposite, wherein in preferred embodiment above-mentioned, the parallelism detecting device 21 and depth of parallelism adjustment Device 22 for detect depth of parallelism information between the 50 place plane of depth information camera module and the plane test chart 10 and The 50 place plane of depth information camera module is adjusted so that it is parallel with the plane test chart 10.That is, In preferred embodiment above-mentioned, which is active accommodation face, and the plane test chart 10 be the passive plane of reference.Those skilled in the art should be readily apparent that the movement relation between object is opposite, thus, at this In invention other embodiment, such as Fig. 5 and as shown in fig. 6, the parallelism detecting device 21 and the parallelism adjusting instrument 22, it may be disposed at the plane test chart 10, to detect the plane test chart 10 and 50 place of depth information camera module The depth of parallelism between plane and the plane test chart 10 is adjusted so that itself and the 50 place plane of depth information camera module It is parallel.That is, the plane test chart 10 is active accommodation face, and the depth in other embodiment of the invention Degree 50 place plane of information camera module is the passive plane of reference, i.e., the described loading plate 23 is the passive plane of reference.It should be noted that The depth information camera module 50 is installed on the loading plate 23 with still keeping same plane at this time, with flat by the carrying Plate 23 sets the 50 place plane of depth information camera module.

Those skilled in the art should be readily apparent that, in other embodiment of the present invention, the depth information camera module 50 place planes and the plane test chart 10 can be arranged to active accommodation face simultaneously, i.e., at this point, the parallelism detection fills Set 21 and the parallelism adjusting instrument 22 be respectively arranged at the plane test chart 10 and the loading plate 23, with detection should The depth of parallelism between plane test chart 10 and the 50 place plane of depth information camera module and adjust the plane test chart 10 and the loading plate 23 so that itself and the 50 place plane parallel of depth information camera module.

Further, in the preferred implementation of the invention, when the 50 place plane of depth information camera module is flat with this After face test chart 10 is adjusted to parastate, the true value measurement system 30 further will drive the depth information to take the photograph As 50 place plane of mould group with change between the 50 place plane of depth information camera module and the plane test chart 10 away from From to measure the depth measurement precision of the depth information camera module 50 under different distance.Those skilled in the art should know Dawn, when being in parastate between the 50 place plane of depth information camera module and the plane test chart 10, by this Depth value between the depth information camera module 50 collected of depth information camera module 50 and the plane test chart 10 Represent the measurement distance value between the 50 place plane of depth information camera module and the plane test chart 10.Correspondingly, When being in parastate between the 50 place plane of depth information camera module and the plane test chart 10, the depth information The distance between 50 place plane of camera module and the plane test chart 10 true value can directly be known by other measurement methods, By means of as a result, by compare the depth information camera module 50 depth value and this apart from true value can realize the depth information image The detection of the measurement accuracy of mould group 50.

More specifically, in the preferred implementation of the invention, as shown in figure 4, the true value measurement system 30 includes one Driving device 31, wherein the driving device 31 controllably drives 50 place of depth information camera module according to command adapted thereto Plane away from or approaching the plane test chart 10, with change the depth information camera module 50 and the plane test chart 10 it Between distance.Correspondingly, the loading plate 23 is being driven to change the process of its distance between the plane test chart 10 In, the loading plate 23, which remains, is parallel to the plane test chart 10, therefore where the depth information camera module 50 The distance between plane and the plane test chart 10 true value can pass through the distance measuring unit of the parallelism detecting device 21 210 directly know.Further, the control processing system 40 can be according to the depth collected of depth information camera module 50 Apart from true value provided by value and the distance measuring unit 210, the depth of the depth information camera module 50 under the distance is obtained Measurement accuracy.It is noted that the driving device 31 can be but not limited to stepper motor.

In order to further assure that the distance between the depth information camera module 50 and the plane test chart 10 true value With higher confidence level, it is preferable that in presently preferred embodiment of the invention, it is true that the true value measurement system 30 also provides one Value comparison parameter is ensured as acquired in the distance measuring unit 210 apart from true value with comparing parameter by the true value with higher Reliability, to improve the serious forgiveness and stability of the true value measurement system 30.

More specifically, as shown in figure 4, the true value measurement system 30 further includes a scale 32, the wherein depth information 50 place plane of camera module and the plane test chart 10 are located at the scale 32, and correspond respectively to one first coordinate T1 and one second coordinate T2.It should be noted that the scale 32 is set perpendicular to institute in presently preferred embodiment of the invention It states between loading plate 23 and the plane test chart 10, so that the 50 place plane of depth information camera module and the plane are surveyed The distance between test-object plate 10 true value is also denoted as the absolute value of the difference of the first coordinate T1 and second coordinate T2.? That is being tested in presently preferred embodiment of the invention by the 50 place plane of depth information camera module and the plane The absolute value of the difference of coordinate between target 10 can set up true value comparison parameter.

It is noted that in order to ensure adjusting by the parallelism adjusting instrument 22 so that the plane test chart 10 and when parallel loading plate 23, the plane test chart 10 and the loading plate 23 both perpendicular to the scale 32, The passive plane of reference (23 place plane of the 10 place plane of plane test chart or the loading plate) can be arranged in advance vertical In the scale.Alternatively, as previously mentioned, in other embodiment of the present invention, when the 10 place plane of plane test chart or When the 23 place plane of loading plate is all active accommodation face, it may be selected in the plane test chart 10 and the loading plate Installation site sensing device on 23, such as magnetometer, gyroscope etc., so that finally when the plane test chart 10 and the depth When 50 place plane parallel of information camera module, the plane test chart 10 and the 50 place plane of depth information camera module Both perpendicular to the scale 32.

Further, in the preferred implementation of the invention, the driving device 31 is connected integrally to the Pingdu tune Engagement positions and/or the loading plate 23, to drive the loading plate 23 to survey away from or approaching the plane according to command adapted thereto Test-object plate 10, to change the distance between the 50 place plane of depth information camera module and the plane test chart 10.Also It is to say, in presently preferred embodiment of the invention, which is that plane of movement has dynamic Coordinate (the second coordinate T2), and the plane test chart 10 is Static reference plane, is had constant-coordinate (the first coordinate T1).Phase Ying Di, the true value measurement system 30 further includes an identification module 33, wherein the identification module 33 is for identifying the depth information Camera module 50 and the correspondence of the plane test chart 10 first coordinate T1 and second coordinate T2.It is therefore preferred that at this In the preferred implementation of invention, which is set the starting point positioned at the scale 32, that is, first seat at this time Marking T1 is zero.Correspondingly, true value pair between the 50 place plane of depth information camera module and the plane test chart 10 Than the absolute value that parameter is second coordinate T2.In this case, the identification module 33 only needs to identify that the depth information is taken the photograph Second coordinate T2 of the scale 32 as corresponding to mould group 50.In the specific implementation process, the identification module 33 is same Plane earth is installed on the 50 place plane of depth information camera module, for identifying the 50 place plane of depth information camera module Corresponding second coordinate T2.

It is noted that as previously mentioned, corresponding to different depth information camera module types, the plane test chart 10 type can make corresponding adjustment, so that in some embodiments of the invention, the plane test chart 10 itself Thickness will affect the precision of the comparison parameter of the true value acquired in the identification module 33, especially when the plane test chart 10 By default setting when coordinate is 0.Correspondingly, in that case it is preferable that the plane test chart 10 should be measured in advance Thickness, and during the calculating of subsequent true value comparison parameter, the thickness value of the plane test chart 10 is subtracted, so that True value comparison parameter can maximumlly represent the 50 place plane of depth information camera module and the plane test chart 10 it Between distance.

Further, the control processing system 40 can be by comparing as acquired in the scale 32 and identification module 33 The true value compares parameter and collected apart from true value by the distance measuring unit 210 of the parallelism detecting device 21, improves The confidence level of the distance between the depth information camera module 50 and the plane test chart 10 true value measurement.Particularly, this is true When value comparison parameter and the excessive gap between true value, the control system issues corresponding warning, to remind operation There may be the failures such as larger measured deviation by person.

Similarly, just as previously mentioned, in the other implementation of the present invention, as shown in fig. 7, the parallelism detecting device 21 It may be disposed at the plane test chart 10 with the parallelism adjusting instrument 22, to detect the plane test chart 10 and the depth The depth of parallelism between 50 place plane of information camera module and the plane test chart 10 is adjusted so that itself and the depth information 50 place plane parallel of camera module.Correspondingly, in such cases, the 50 place plane of depth information camera module is flat with this The distance between face test chart 10 true value can directly be obtained by the distance measuring unit 210 of the parallelism detecting device 21 Know.Further, the control processing system 40 can be according to the depth value collected of depth information camera module 50 and described Apart from true value provided by distance measuring unit 210, depth measurement precision of the depth information camera module 50 under the distance is obtained.

It is also possible that the driving device 31 can be connected integrally to the plane test chart 10, according to corresponding Instruction, drives the plane test chart 10 away from or approaching the 50 place plane of depth information camera module.That is, at this In the embodiment of invention, which is plane of movement, is had dynamic coordinate (the first coordinate T1), and the depth 50 place plane of information camera module is Static reference plane, is had constant-coordinate (the second coordinate T2).Correspondingly, the true value Measuring system 30 further includes an identification module 33, wherein the identification module 33 is for identifying the depth information camera module 50 and being somebody's turn to do Correspondence the second coordinate T2 and the first coordinate T1 of plane test chart 10.It further, can be according to the depth information camera module Coordinate absolute value of the difference between 23 place plane of 50 place planes and the loading plate obtains true value comparison parameter.

, it will be appreciated that preferably, in the preferred implementation of the invention, the 50 place plane of depth information camera module The starting point positioned at the scale 32 is set, that is, second coordinate T2 is zero at this time.Correspondingly, the plane test chart 10 it Between be first coordinate T1 with the true value of the 50 place plane of depth information camera module comparison parameter absolute value.This In the case of, the identification module 33 only needs to identify first coordinate T1 of the scale 32 corresponding to the plane test chart 10. In the specific implementation process, it is installed on to 33 same plane of identification module the plane test chart 10, so that identification should First coordinate T1 corresponding to plane test chart 10.

Further, the control processing system 40 can be obtained by comparing by the scale 32 and the identification module 33 The true value comparison parameter that takes and collected apart from true value by the distance measuring unit 210 of the parallelism detecting device 21, Improve the confidence level of the distance between the depth information camera module 50 and the plane test chart 10 true value measurement.Particularly, When the true value compares parameter and the excessive gap between true value, the control system issues corresponding warning, to remind There may be the failures such as larger measured deviation by operator.

It is noted that in the present invention, the plane correction system 20 and the true value measurement system 30 can communicate Ground is connected to the control processing system 40, automatically to plan as a whole the plane correction system by the control processing system 40 The corresponding operating of the 20 true value measurement systems 30.

More specifically, as shown in figure 8, control processing system 40 include an instruction module 41, a deep analysis module 42, One accuracy detection module 43 and a communication module 44, wherein the control processing system 40 by the communication module 44 with it is described Plane correction system 20 and the true value measurement system 30 keep two-way communication.

Described instruction module 41 has the plane correction system 20 and the corresponding control of the true value measurement system 30 refers to It enables, such as the parallelism adjusting instrument 22 of the plane correction system 20 is driven to adjust 50 institute of depth information camera module The depth of parallelism between plane and the plane test chart 10 sets and the driving of the true value measurement system 30 is driven to fill 31 are set to change the distance between the 50 place plane of depth information camera module and the 10 place plane of plane test chart etc.. Preferably, described instruction module 41 has the function of editable corresponding instruction to be arranged according to different needs, described in improving The versatility of precision automatic checkout system

The deep analysis module 42 is communicatively coupled with the depth information camera module 50, for taking the photograph to the depth information As the depth image collected of mould group 50 is parsed, to obtain the depth information camera module 50 and the plane test chart 10 Between depth value.Those skilled in the art will be appreciated that the depth image collected of depth information camera module 50 is original Beginning data cannot directly learn depth value.Correspondingly, the deep analysis module 42 is equipped with corresponding deep analysis program, with The depth image is parsed, the depth value between the depth information camera module 50 and the plane test chart 10 is obtained. For example, the depth information camera module 50 is a TOF depth information camera module in a specific embodiment of the invention, Correspondingly, the deep analysis module 42 is equipped with TOF depth image analysis program, is taken the photograph with obtaining the depth information by the program As the depth value between mould group 50 and the plane test chart 10.Further, the deep analysis module 42 communicably connects Be connected to the accuracy detection module 43, with for the accuracy detection module 43 provide the depth information camera module 50 this especially away from Depth value under.On the other hand, the accuracy detection module 43 is filled by the communication module 44 with the parallelism detection It sets 21 distance measuring unit 210 to be communicatively coupled, to obtain measured by the distance measuring unit 210 this apart from true value number According to calculate the depth measurement precision of the depth information camera module 50 under the specific range.

Specifically, the accuracy detection module 43 can be imaged by the depth information provided by the identification module 33 50 place plane of mould group and corresponding 32 coordinate of scale of 10 institute of plane test chart, show that the depth information images The distance between 50 place plane of mould group and the plane test chart 10 true value are to carry out accuracy detection.It should be noted that when should One of them correspondence 32 coordinate of scale of 50 place plane of depth information camera module or the plane test chart 10 is zero When, the mark corresponding to the dynamic plane among the 50 place plane of depth information camera module or the plane test chart 10 32 coordinate value of ruler is that described instruction unit sets the distance between the plane test chart 10 and the depth information camera module 50 True value.

It is noted that the accuracy detection module 43 can be further advanced by frequently by the scale 32 and institute State the comparison parameter of the true value acquired in identification module 33 and the distance measuring unit 210 by the parallelism detecting device 21 It is collected this apart from true value, improve between the 50 place plane of depth information camera module and the plane test chart 10 away from Confidence level from true value measurement.Particularly, the Truth data acquired in the distance measuring unit 210 and pass through the identification module 33 When difference obtained between Truth data is excessive, the control processing system 40 can accordingly issue warning, to remind There may be larger measured deviations by operator.

Further, the control processing system 40 further includes an interactive module 45, with by the interactive module 45 into The corresponding information input output of row.In a specific embodiment of the invention, the interactive module 45 is implemented as a touch screen, To show corresponding information, such as the running state information of the precision automatic checkout system by the touch screen, such as start Detection terminates detection, prompts error message etc.；Or corresponding information, such as the corresponding survey of configuration are inputted by the touch screen Try parameter, the command information etc. that modification described instruction module 41 is stored, to enhance the man-machine of the precision automatic checkout system Interact performance.

It is noted that in the present invention, the control processing system 40 can be integrated in a computer equipment or conduct One embedded system is embedded in a mobile intelligent terminal, and the mounting means of the control processing system 40 is not office, institute of the present invention Limit,

It can thus be seen that the object of the invention can be efficiently accomplished sufficiently.It is used to explain the present invention function and structure principle The embodiment is absolutely proved and is described, and the present invention is not by the limit based on the change on these embodiment basis System.Therefore, the present invention includes all modifications covered within appended claims claimed range and spirit.

Claims (25)

1. a depth information camera module precision automatic checkout system, the depth measurement precision for a depth information camera module Detection characterized by comprising

One plane rectification system；

One true value measurement system；With

One control processing system, wherein the control processing system is communicatively coupled with the plane correction system, for adjusting The depth of parallelism where the depth information camera module between plane and a plane test chart, the true value measurement system can communicate Ground is connected to the control processing system, flat with this according to command adapted thereto, to adjust depth information camera module place plane The distance between face test chart.

2. depth information camera module precision automatic checkout system as described in claim 1, wherein the plane correction system Including a loading plate, it the depth information camera module same plane wherein is installed on the loading plate, by described Loading plate sets plane where the depth information camera module.

3. depth information camera module precision automatic checkout system as described in claim 1, wherein the plane correction system It further include a parallelism detecting device and a parallelism adjusting instrument, wherein the parallelism detecting device is for detecting depth letter The depth of parallelism where ceasing camera module between plane and the plane test chart, the parallelism adjusting instrument is according to described parallel The depth of parallelism information provided by degree detection device adjusts plane and plane test chart where the depth information camera module Between relative position so that parallel between plane and the plane test chart where depth information camera module.

4. depth information camera module precision automatic checkout system as claimed in claim 2, wherein the plane correction system Further include a parallelism detecting device and a parallelism adjusting instrument, wherein the parallelism detecting device same plane install In the loading plate, for detecting the depth of parallelism between depth information camera module place plane and the plane test chart, Wherein parallelism adjusting instrument depth of parallelism information according to provided by the parallelism detecting device adjusts the carrying Relative position between plate and the plane test chart is so that plane and the plane are surveyed where the depth information camera module It is parallel between test-object plate.

5. depth information camera module precision automatic checkout system as claimed in claim 2, wherein the plane correction system Further include a parallelism detecting device and a parallelism adjusting instrument, wherein the parallelism detecting device same plane install In the plane test chart, for detecting the depth of parallelism between the plane test chart and the loading plate, wherein described parallel Degree adjustment device depth of parallelism information according to provided by the parallelism detecting device adjust the plane test chart with it is described Relative position between loading plate is so that phase between plane and the plane test chart where the depth information camera module In parallel.

6. depth information camera module precision automatic checkout system as claimed in claim 4, wherein the parallelism detection fills It sets including at least three distance measuring units, wherein at least three distance measuring units are not to be installed on the carrying in a manner of collinear Plate, so that plane where plane set by least three distance measuring units and the depth information camera module is same flat Face, wherein at least three distance measuring units are for respectively for detecting the distance between the distance measuring unit and the plane test chart, To obtain the depth of parallelism information.

7. depth information camera module precision automatic checkout system as claimed in claim 5, wherein the parallelism detection fills It sets including at least three distance measuring units, wherein at least three distance measuring units are not to be installed on the plane in a manner of collinear Test chart, so that plane where plane set by least three distance measuring units and the depth information camera module is same One plane, wherein at least three distance measuring units for respectively for detect between the distance measuring unit and the loading plate away from From to obtain the depth of parallelism information between the plane test chart and depth information camera module place plane.

8. depth information camera module precision automatic checkout system as claimed in claim 6, wherein depth of parallelism adjustment dress It sets, the depth of parallelism information according to provided by the parallelism detecting device, the loading plate is driven to test with respect to the plane Target rotation, to change the depth of parallelism between depth information camera module place plane and the plane test chart.

9. depth information camera module precision automatic checkout system as claimed in claim 7, wherein depth of parallelism adjustment dress It sets, the depth of parallelism information according to provided by the parallelism detecting device drives the relatively described carrying of the plane test chart Plate rotation, to change the depth of parallelism between depth information camera module place plane and the plane test chart.

10. the depth information camera module precision automatic checkout system as described in claim 6 to 9 is any, wherein the ranging Unit is laser ranging unit, and the range accuracy of the laser cell is higher than the depth measurement essence of the depth information camera module Degree.

11. depth information camera module precision automatic checkout system as described in claim 1, wherein the true value measurement system It further include a driving device, the driving device is put down where controllably adjusting the depth information camera module according to command adapted thereto The distance between face and the plane test chart.

12. depth information camera module precision automatic checkout system as claimed in claim 8, wherein the true value measurement system It further include a driving device, the driving device is for driving the loading plate away from or approaching the plane test chart, to adjust The distance between plane and the plane test chart where the whole depth information camera module.

13. depth information camera module precision automatic checkout system as claimed in claim 9, wherein the true value measurement system It further include a driving device, the driving device is for driving the plane test chart away from or approaching the loading plate, to adjust The distance between plane and the plane test chart where the whole depth information camera module.

14. depth information camera module precision automatic checkout system as described in claim 1, wherein the control processing system Including an instruction module, a deep analysis module, an accuracy detection module and a communication module, wherein described instruction module is logical It crosses between the communication module and the plane correction system and the true value measurement system and carries out command adapted thereto transmission to control The corresponding operating of the plane correction system and the true value measurement system, the deep analysis module are communicatively coupled with this Depth information camera module is for obtaining the depth information camera module depth information collected, the accuracy detection unit It is tested by plane and the plane where depth information provided by the deep analysis module and the depth information camera module One between target carries out precision analysis apart from true value information.

15. depth information camera module precision automatic checkout system as claimed in claim 12, wherein the control processing system System includes an instruction module, a deep analysis module, an accuracy detection module and a communication module, wherein described instruction module By carrying out command adapted thereto transmission between the communication module and the plane correction system and the true value measurement system to control The corresponding operating of the plane correction system and the true value measurement system is made, the deep analysis module is communicatively coupled with The depth information camera module is for obtaining the depth information camera module depth information collected, the accuracy detection list Member is surveyed by plane and the plane where depth information provided by the deep analysis module and the depth information camera module One between test-object plate carries out precision analysis apart from true value information, and wherein this is apart from true value information by the plane correction system The distance measuring unit of the parallelism detecting device is acquired.

16. depth information camera module precision automatic checkout system as claimed in claim 13, wherein the control processing system System includes an instruction module, a deep analysis module, an accuracy detection module and a communication module, wherein described instruction module By carrying out command adapted thereto transmission between the communication module and the plane correction system and the true value measurement system to control The corresponding operating of the plane correction system and the true value measurement system is made, the deep analysis module is communicatively coupled with The depth information camera module is for obtaining the depth information camera module depth information collected, the accuracy detection list Member is surveyed by plane and the plane where depth information provided by the deep analysis module and the depth information camera module One between test-object plate carries out precision analysis apart from true value information, and wherein this is apart from true value information by the plane correction system The distance measuring unit of the parallelism detecting device is acquired.

17. the depth information camera module precision automatic checkout system as described in claim 14 to 16 is any, wherein the control Processing system processed further includes an interactive module, to realize the alternating transmission of information by the interactive module.

18. depth information camera module precision automatic checkout system as claimed in claim 15, wherein the true value measurement system System further includes a scale, and wherein plane and the plane test chart correspond respectively to the mark where the depth information camera module One first coordinate and one second coordinate of ruler, wherein the true value measurement system further includes an identification module, the identification module For detecting first coordinate and second coordinate, in this way, it is flat to obtain depth information camera module place A true value between face and the plane test chart compares parameter.

19. depth information camera module precision automatic checkout system as claimed in claim 16, wherein the true value measurement system System further includes a scale, and wherein plane and the plane test chart correspond respectively to the mark where the depth information camera module One first coordinate and one second coordinate of ruler, wherein the true value measurement system further includes an identification module, the identification module For detecting first coordinate and second coordinate, in this way, it is flat to obtain depth information camera module place A true value between face and the plane test chart compares parameter.

20. depth information camera module precision automatic checkout system as claimed in claim 18, the wherein plane test chart The starting point corresponding to the scale is set, i.e., described first coordinate is zero, wherein the identification module is for detecting depth letter Second coordinate corresponding to plane where ceasing camera module.

21. depth information camera module precision automatic checkout system as claimed in claim 19, wherein the loading plate quilt Starting point corresponding to the scale is set, i.e., described second coordinate is zero, wherein the identification module is for detecting plane test First coordinate corresponding to target.

22. the depth information camera module precision automatic checkout system as described in claim 18 to 21 is any, wherein the control The true value detection module of processing system processed, comparison are compared by the true value acquired in the scale and the identification module Parameter and by the distance measuring unit of the parallelism detecting device it is collected this apart from true value, improve the depth information and take the photograph The confidence level of the distance between plane and the plane test chart true value measurement as where mould group.

23. a depth information camera module precision automatic testing method, which is characterized in that the detection method includes following step It is rapid:

(a) pass through the flat of plane where one depth information camera module of a plane rectification system call interception and a plane test chart Row degree；With

(b) pass through plane where depth information camera module described in a true value measurement system call interception and the plane test chart The distance between, to be detected using precision of the plane test chart to the depth information camera module.

24. detection method according to claim 23, wherein further comprising step in the step (a):

The plane where the depth information camera module and the plane test chart are detected by a parallelism detecting device Between the depth of parallelism, to obtain a depth of parallelism information；With

It is adjusted by a parallelism adjusting instrument according to the depth of parallelism information flat where the depth information camera module The mode of face and the relative position of the plane test chart adjust plane where the depth information camera module with it is described The depth of parallelism of plane test chart.

25. detection method according to claim 23, wherein further comprising step in the step (a):

The depth information camera module same plane is set to a loading plate；

The depth of parallelism between the loading plate and the plane target is detected by a parallelism detecting device, it is flat to obtain one Row degree information；And

The loading plate is adjusted according to the depth of parallelism information by a parallelism adjusting instrument and plane test is marked The mode of the relative position of plate adjusts the plane and the depth of parallelism of the test chart where the depth information camera module.