Structured light 3D camera system, control method, device, electronic device and medium

Abstract

The present disclosure provides a structured light 3D camera system, control method, device, electronic device, and medium. The system includes at least two cascaded structured light 3D cameras, each of which includes a vertical cavity surface emitting laser (VCSEL). After the VCSEL in the preceding structured light 3D camera completes its operation, it automatically triggers the VCSEL in the succeeding structured light 3D camera to activate. The structured light 3D camera system of the present disclosure eliminates the need for additional components for separate control, simplifies operation, significantly improves processing efficiency, and offers high flexibility and a wide range of applications.

Description

Technical Field

[0001] The present disclosure generally relates to the field of optoelectronic device technology, and more particularly to a structured light 3D camera system, control method, device, electronic device, and medium. Background Art

[0002] With the emergence of scenarios with extremely high security requirements such as face recognition access control and face payment, 3D structured light stereo imaging technology has emerged. Figure 1 As shown in the figure, the principle of this imaging technology is that the transmitter emits a coded pattern and projects it onto the object being measured. The receiver then uses optical triangulation to calculate the pattern distortion based on the pattern reflected by the object to obtain the object's position and depth information. Currently, related technologies have the disadvantages of complex control and high computational complexity when operating multiple cameras, which seriously affects operational efficiency and has limited application scenarios. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the related art, it is desired to provide a structured light 3D camera system, control method, device, electronic device and medium that are simple to operate, can significantly improve processing efficiency, and are highly flexible and have a wide range of applications.

[0004] In a first aspect, the present disclosure provides a structured light 3D camera system, comprising at least two cascaded structured light 3D cameras, each of which comprises a vertical cavity surface emitting laser (VCSEL). After the VCSEL in the preceding structured light 3D camera completes its work, the VCSEL in the succeeding structured light 3D camera automatically triggers the VCSEL in the succeeding structured light 3D camera to start up.

[0005] Optionally, in some embodiments of the present disclosure, the structured light 3D camera includes an infrared sensor, a color image sensor and a depth map processor respectively connected to the infrared sensor, and the vertical cavity surface emitting laser connected to the depth map processor, and the vertical cavity surface emitting laser includes a driving module and a light emitting module connected to the driving module.

[0006] Optionally, in some embodiments of the present disclosure, the FSIN pin of the infrared sensor in the structured light 3D camera is connected to the EFSYNC pin of the color image sensor, the STROBE pin of the infrared sensor is connected to the FLASH pin of the depth map processor, the LASER STROBE pin of the depth map processor is connected to the STROBE pin of the driving module, and the output end of the driving module is connected to the input end of the light-emitting module;

[0007] The LASER STROBE pin of the preceding structured light 3D camera is also connected to the input of the NOT gate inversion module, and the output of the NOT gate inversion module is connected to the FSIN pin and EFSYNC pin of the succeeding structured light 3D camera.

[0008] Optionally, in some embodiments of the present disclosure, the field of view angles corresponding to the structured light 3D cameras are equal; or, the field of view angle of the structured light 3D camera at the subsequent stage among the structured light 3D cameras is greater than the field of view angle of the structured light 3D camera at the preceding stage.

[0009] Optionally, in some embodiments of the present disclosure, the structured light 3D cameras are arranged in parallel; or, the structured light 3D cameras are arranged in a staggered manner.

[0010] In a second aspect, the present disclosure provides a method for controlling a structured light 3D camera system, the method being applied to the structured light 3D camera system according to any one of the first aspects, the method comprising:

[0011] Acquire hierarchical information corresponding to each structured light 3D camera in the structured light 3D camera system;

[0012] When the hierarchical information corresponding to the structured light 3D camera is the first level, the vertical cavity surface emitting laser in the structured light 3D camera as the first level is controlled to start, so that the vertical cavity surface emitting laser in the structured light 3D camera as the first level automatically triggers the vertical cavity surface emitting laser in the structured light 3D camera at the subsequent level to start after the work is completed.

[0013] Optionally, in some embodiments of the present disclosure, the controlling the vertical cavity surface emitting laser in the structured light 3D camera as the first stage to start, so that the vertical cavity surface emitting laser in the structured light 3D camera as the first stage automatically triggers the vertical cavity surface emitting laser in the structured light 3D camera in the subsequent stage to start after the work is completed, includes:

[0014] The infrared sensor in the structured light 3D camera serving as the first stage is controlled to operate so that the infrared sensor outputs a synchronization signal to the depth map processor in the structured light 3D camera serving as the first stage. After responding to the synchronization signal, the depth map processor outputs a start signal to the vertical cavity surface emitting laser in the structured light 3D camera serving as the first stage, and outputs a trigger signal to the infrared sensor in the structured light 3D camera in the subsequent stage through the NOT gate inversion module until all the structured light 3D cameras in the subsequent stage are automatically triggered in sequence.

[0015] In a third aspect, the present disclosure provides a control device for a structured light 3D camera system, wherein the device is applied to the structured light 3D camera system according to any one of the first aspects, and the device includes:

[0016] an acquiring unit configured to acquire hierarchical information corresponding to each of the structured light 3D cameras in the structured light 3D camera system;

[0017] The control unit is configured to control the vertical cavity surface emitting laser in the structured light 3D camera as the first level to start when the hierarchical information corresponding to the structured light 3D camera is the first level, so that the vertical cavity surface emitting laser in the structured light 3D camera as the first level automatically triggers the vertical cavity surface emitting laser in the structured light 3D camera at the subsequent level to start after the work is completed.

[0018] In a fourth aspect, the present disclosure provides an electronic device, comprising the structured light 3D camera system described in any one of the first aspects.

[0019] In a fifth aspect, the present disclosure provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the control method of the structured light 3D camera system described in any one of the second aspects.

[0020] It can be seen from the above technical solutions that the embodiments of the present disclosure have the following advantages:

[0021] The embodiments of the present disclosure provide a structured light 3D camera system, a control method, an apparatus, an electronic device, and a medium. Since the structured light 3D cameras in the structured light 3D camera system are cascaded, the vertical cavity surface emitting laser in the structured light 3D camera at the front stage can automatically trigger the vertical cavity surface emitting laser in the structured light 3D camera at the back stage to start up after the vertical cavity surface emitting laser in the structured light 3D camera at the back stage is completed. There is no need to add additional devices for separate control, the operation is simple, the processing efficiency can be greatly improved, and the system has strong flexibility and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present disclosure will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 A schematic diagram of the principle of a 3D structured light stereo imaging technology provided by an embodiment of the present disclosure;

[0024] Figure 2 A schematic diagram of the structure of a structured light 3D camera system provided in an embodiment of the present disclosure;

[0025] Figure 3A schematic diagram of the structure of another structured light 3D camera system provided in an embodiment of the present disclosure;

[0026] Figure 4 A schematic diagram of the internal cascade of a structured light 3D camera system provided in an embodiment of the present disclosure;

[0027] Figure 5 A schematic diagram of the position distribution of each structured light 3D camera provided in an embodiment of the present disclosure;

[0028] Figure 6 A schematic diagram of the position distribution of another structured light 3D camera provided in an embodiment of the present disclosure;

[0029] Figure 7 A schematic diagram of the position distribution of another structured light 3D camera provided in an embodiment of the present disclosure;

[0030] Figure 8 A schematic diagram of the position distribution of another structured light 3D camera provided in an embodiment of the present disclosure;

[0031] Figure 9 An example of the operation of each structured light 3D camera provided in an embodiment of the present disclosure;

[0032] Figure 10 Another example of the operation of each structured light 3D camera provided in the embodiment of the present disclosure;

[0033] Figure 11 This is another example of how each structured light 3D camera works, provided in an embodiment of the present disclosure.

[0034] Figure 12 A schematic flow chart of a control method for a structured light 3D camera system provided in an embodiment of the present disclosure;

[0035] Figure 13 A trigger timing diagram of a structured light 3D camera system provided in an embodiment of the present disclosure;

[0036] Figure 14 A structural block diagram of a control device for a structured light 3D camera system provided by an embodiment of the present disclosure;

[0037] Figure 15 This is a structural block diagram of an electronic device provided in an embodiment of the present disclosure.

[0038] Reference numerals:

[0039] 100-Structured light 3D camera system, 101-Structured light 3D camera, 102-Vertical cavity surface emitting laser, 1021-Drive module, 1022-Light emitting module, 103-Infrared sensor, 104-Color image sensor, 105-Depth map processor, 106-Non-gate inversion module. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0041] The terms "first," "second," "third," "fourth," and so forth (if any) in the description and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present disclosure described can be practiced in orders other than those illustrated or described herein.

[0042] In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, product or apparatus.

[0043] For ease of understanding and explanation, the following Figures 2 to 15 The structured light 3D camera system, control method, device, electronic device and medium provided by the embodiments of the present disclosure are described in detail.

[0044] Please refer to Figure 2, which is a schematic diagram of the structure of a structured light 3D camera system provided by an embodiment of the present disclosure. The structured light 3D camera system 100 includes at least two cascaded structured light 3D cameras 101, each structured light 3D camera 101 including a vertical cavity surface emitting laser (VCSEL) 102. After the VCSEL in the preceding structured light 3D camera completes its work, it can automatically trigger the VCSEL in the succeeding structured light 3D camera to start up in sequence. This eliminates the need for additional devices to be controlled separately, resulting in simple operation and significantly improved processing efficiency. It also offers strong flexibility and a wide range of applications, including but not limited to application scenarios where the camera is fixed, or where the camera is mounted on a robotic arm and can rotate freely with the robotic arm.

[0045] Alternatively, as Figure 3 As shown, the structured light 3D camera 101 in the embodiment of the present disclosure may include an infrared sensor (IR sensor) 103, a color image sensor 104 and a depth map processor 105 respectively connected to the infrared sensor 103, and a vertical cavity surface emitting laser 102 connected to the depth map processor 105, wherein the vertical cavity surface emitting laser 102 includes a driving module 1021 and a light emitting module 1022 connected to the driving module 1021. It should be noted that the vertical cavity surface emitting laser 102 is used to emit invisible infrared light to the object under test; the infrared sensor 103 is used to collect the invisible infrared light reflected by the object under test and obtain the spatial information of the object under test through calculation. For example, the model of the infrared sensor 103 may be OV9282; the color image sensor 104 is used to collect 2D color pictures, and the depth map processor 105 is used to process the 2D color pictures and spatial information to obtain a color picture with 3D information.

[0046] For example, Figure 4 , which is a schematic diagram of the internal cascade of a structured light 3D camera system provided by an embodiment of the present disclosure. For example, the structured light 3D camera system 100 may include three mutually cascaded structured light 3D cameras 101, namely, structured light 3D camera #1, structured light 3D camera #2, and structured light 3D camera #3. In each structured light 3D camera 101, the FSIN pin of the infrared sensor 103 is connected to the EFSYNC pin of the color image sensor 104, the STROBE pin of the infrared sensor 103 is connected to the FLASH pin of the depth map processor 105, the LASER STROBE pin of the depth map processor 105 is connected to the STROBE pin of the driver module 1021, and the output end of the driver module 1021 is connected to the input end of the light emitting module 1022.

[0047] The LASER STROBE pin of the preceding structured light 3D camera 101 is also connected to the input of the NOT gate inversion module 106 , and the output of the NOT gate inversion module 106 is connected to the FSIN and EFSYNC pins of the succeeding structured light 3D camera 101 .

[0048] Optionally, the field of view angles corresponding to the structured light 3D cameras 101 in the embodiments of the present disclosure are all equal; or, in some embodiments of the present disclosure, the field of view angle of the structured light 3D camera at the rear stage in each structured light 3D camera 101 is greater than the field of view angle of the structured light 3D camera at the front stage; or, in some embodiments of the present disclosure, the field of view angle of the structured light 3D camera at the rear stage in each structured light 3D camera 101 is smaller than the field of view angle of the structured light 3D camera at the front stage. It should also be noted that the positions of the structured light 3D cameras 101 in the embodiments of the present disclosure can be set in parallel, for example Figure 5 The structured light 3D cameras 101 are on the same horizontal line 10. Figure 6 The central axes of the structured light 3D cameras 101 are parallel to each other, that is, central axis l1 / / central axis l2 / / central axis l3, where “ / / ” indicates parallel. Figure 7 The central axes of some of the structured light 3D cameras 101 are on the same horizontal line, and the central axes of some of the cameras are parallel to each other. Alternatively, in some embodiments of the present disclosure, the positions of the structured light 3D cameras 101 can also be staggered at any angle, such as Figure 8 In short, it is sufficient that there are overlapping areas between the fields of view of the structured light 3D cameras 101, thus satisfying various application scenarios.

[0049] Furthermore, since there are overlapping areas between the fields of view of the structured light 3D cameras 101, Figure 9 The speckle projected by the vertical cavity surface emitting laser shown will cause crosstalk in the overlapping area (for example Figure 10 and Figure 11 This results in inaccurate calculation of subsequent depth information, seriously affecting the normal operation of electronic equipment. In the disclosed embodiment, after the VCSEL in the preceding structured light 3D camera completes operation, the preceding structured light 3D camera can automatically and sequentially trigger the VCSEL in the succeeding structured light 3D camera to start, without interfering with each other. This eliminates the need for additional components for separate control, thereby improving processing efficiency.

[0050] Optionally, in some embodiments of the present disclosure, the maximum exposure time of the infrared sensor 103 is 4.5 milliseconds, the interval delay is 1 millisecond, the frame rate is 30 frames per second, and the inter-frame time is 33 milliseconds. In this case, the maximum number of structured light 3D cameras 101 that can be connected is 33 / (4.5+1)=6. If the maximum exposure time is shortened or the frame rate requirement is lowered, more structured light 3D cameras can be cascaded to operate within the same field of view.

[0051] The disclosed embodiments provide a structured light 3D camera system. In the structured light 3D camera system, the structured light 3D cameras are cascaded, and the vertical cavity surface emitting laser in the front-stage structured light 3D camera can automatically trigger the vertical cavity surface emitting laser in the back-stage structured light 3D camera to start up after the work is completed. There is no need to add additional devices for separate control, the operation is simple, the processing efficiency can be greatly improved, and the system has strong flexibility and a wide range of applications.

[0052] Based on the above embodiments, the present disclosure provides a control method for a structured light 3D camera system. The method can be applied to Figures 2 to 11 The structured light 3D camera system 100 of the corresponding embodiment. Figure 12 , the method specifically comprises the following steps:

[0053] S101: Obtain hierarchical information corresponding to each structured light 3D camera in a structured light 3D camera system.

[0054] Exemplarily, the hierarchical information corresponding to each structured light 3D camera can be set manually, for example, the hierarchical information includes the first level, the second level, the third level, etc., that is, there is a master-slave relationship and a startup sequence between each structured light 3D camera in the structured light 3D camera system of the embodiment of the present disclosure.

[0055] S102, when the hierarchical information corresponding to the structured light 3D camera is the first level, controlling the vertical cavity surface emitting laser in the structured light 3D camera as the first level to start, so that the vertical cavity surface emitting laser in the structured light 3D camera as the first level automatically triggers the vertical cavity surface emitting laser in the structured light 3D camera at the subsequent level to start after the work is completed.

[0056] For example, Figure 4The structured light 3D camera system shown in the figure is used as an example for explanation. Among them, the 1# structured light 3D camera is used as the first stage, while the 2# and 3# structured light 3D cameras are used as the second and third stages respectively. In specific operation, the infrared sensor in the 1# structured light 3D camera is first controlled to work, so that the infrared sensor outputs a synchronization signal to the depth map processor in the 1# structured light 3D camera. The depth map processor buffers the synchronization signal and then outputs a start signal Strobe_1 to the vertical cavity surface emitting laser VCSEL1 in the 1# structured light 3D camera, and outputs a trigger signal Strobe_1_B to the infrared sensor in the 2# structured light 3D camera through the NOT gate inversion module.

[0057] Since the infrared sensor in the 2# structured light 3D camera is set to be externally triggered, when the infrared sensor in the 2# structured light 3D camera receives the trigger signal Strobe_1_B output by the 1# structured light 3D camera, Figure 13 In the trigger timing diagram shown, the rising edge of Strobe_1_B is used as the trigger. The infrared sensor in the 2# structured light 3D camera outputs a synchronization signal to the depth map processor in the 2# structured light 3D camera. The depth map processor buffers the synchronization signal and outputs a start signal Strobe_2 to the vertical cavity surface emitting laser VCSEL2 in the 2# structured light 3D camera. The depth map processor then outputs a trigger signal Strobe_2_B to the infrared sensor in the 3# structured light 3D camera through the NOT gate inversion module.

[0058] Similarly, since the infrared sensor in camera #3 is also configured for external triggering, when it receives trigger signal Strobe_2_B from camera #2, it uses the rising edge of Strobe_2_B as a trigger. The infrared sensor in camera #3 then outputs a synchronization signal to the depth map processor in camera #3. The depth map processor then buffers the synchronization signal and outputs a start signal Strobe_3 to vertical cavity surface emitting laser (VCSEL) 3 in camera #3, thereby illuminating VCSEL 3. If the cascade connection continues, camera #3 will then output trigger signal Strobe_3_B to the infrared sensor in the next-level camera via the NOT gate inversion module, which then serves as the input trigger signal source. And so on.

[0059] The disclosed embodiments provide a control method for a structured light 3D camera system. By controlling the vertical cavity surface emitting laser in the first-stage structured light 3D camera to start up, the vertical cavity surface emitting laser in the first-stage structured light 3D camera can automatically and sequentially trigger the vertical cavity surface emitting lasers in the subsequent-stage structured light 3D cameras to start up after the work is completed. This method does not require additional devices for separate control, is simple to operate, can significantly improve processing efficiency, and has strong flexibility and a wide range of applications.

[0060] Based on the above embodiments, the present disclosure provides a control device for a structured light 3D camera system, which can be applied to Figures 2 to 11 The structured light 3D camera system 100 of the corresponding embodiment. Figure 14 The control device 200 of the structured light 3D camera system includes:

[0061] An acquiring unit 201 is configured to acquire hierarchical information corresponding to each structured light 3D camera in a structured light 3D camera system;

[0062] The control unit 202 is configured to control the vertical cavity surface emitting laser in the structured light 3D camera as the first level to start when the hierarchical information corresponding to the structured light 3D camera is the first level, so that the vertical cavity surface emitting laser in the structured light 3D camera as the first level automatically triggers the vertical cavity surface emitting laser in the structured light 3D camera at the subsequent level to start after the work is completed.

[0063] Optionally, in the embodiment of the present disclosure, the control unit 202 is further configured to control the operation of the infrared sensor in the first-stage structured light 3D camera, so that the infrared sensor outputs a synchronization signal to the depth map processor in the first-stage structured light 3D camera. After responding to the synchronization signal, the depth map processor outputs a start signal to the vertical cavity surface emitting laser in the first-stage structured light 3D camera, and outputs a trigger signal to the infrared sensor in the subsequent structured light 3D camera through the NOT gate inversion module until all subsequent structured light 3D cameras are automatically triggered in sequence.

[0064] It should be noted that, for the description of the same steps and contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0065] An embodiment of the present disclosure provides a control device for a structured light 3D camera system, wherein an acquisition unit in the control device is used to acquire hierarchical information corresponding to each structured light 3D camera in the structured light 3D camera system, and a control unit is used to control a vertical cavity surface emitting laser in a first-level structured light 3D camera to start up when the hierarchical information corresponding to the structured light 3D camera is the first level, so that after the vertical cavity surface emitting laser in the first-level structured light 3D camera completes its work, it can automatically and sequentially trigger the vertical cavity surface emitting laser in the subsequent structured light 3D camera to start up, without the need for additional devices to be controlled separately, and the operation is simple, which can greatly improve the processing efficiency, and at the same time has strong flexibility and a wide range of applications.

[0066] Based on the above examples, please refer to Figure 15 , which is a structural block diagram of an electronic device provided by an embodiment of the present disclosure, the electronic device 300 includes Figures 2 to 11 The structured light 3D camera system 100 of the corresponding embodiment.

[0067] As another aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing program code, wherein the program code is used to execute any one of the control methods of the structured light 3D camera system of the aforementioned embodiments.

[0068] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0069] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. On the other hand, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0070] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated units may be implemented in the form of hardware or software functional units. If the integrated units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium.

[0071] Based on this understanding, the technical solution of the present disclosure, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the control method for the structured light 3D camera system of each embodiment of the present disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0072] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A structured light 3D camera system, characterized in that: The system includes at least two cascaded structured light 3D cameras, each of which includes a vertical cavity surface emitting laser. After the vertical cavity surface emitting laser in the structured light 3D camera at the front stage completes its work, it automatically triggers the vertical cavity surface emitting laser in the structured light 3D camera at the back stage to start up. The structured light 3D camera includes an infrared sensor, a color image sensor and a depth map processor respectively connected to the infrared sensor, and the vertical cavity surface emitting laser connected to the depth map processor, wherein the vertical cavity surface emitting laser includes a driving module and a light emitting module connected to the driving module; The FSIN pin of the infrared sensor is connected to the EFSYNC pin of the color image sensor, the STROBE pin of the infrared sensor is connected to the FLASH pin of the depth map processor, the LASER STROBE pin of the depth map processor is connected to the STROBE pin of the driving module, and the output end of the driving module is connected to the input end of the light-emitting module; The LASER STROBE pin of the preceding structured light 3D camera is also connected to the input of the NOT gate inversion module, and the output of the NOT gate inversion module is connected to the FSIN pin and EFSYNC pin of the succeeding structured light 3D camera.

2. The structured light 3D camera system according to claim 1, wherein: The field of view angles corresponding to the structured light 3D cameras are all equal; or, the field of view angle of the structured light 3D camera at the subsequent stage among the structured light 3D cameras is greater than the field of view angle of the structured light 3D camera at the preceding stage.

3. The structured light 3D camera system according to claim 1 or 2, characterized in that: The structured light 3D cameras are arranged in parallel; or, the structured light 3D cameras are arranged in staggered positions.

4. A control method for a structured light 3D camera system, characterized in that: The method is applied to the structured light 3D camera system according to any one of claims 1 to 3, and the method comprises: Acquire hierarchical information corresponding to each structured light 3D camera in the structured light 3D camera system; When the hierarchical information corresponding to the structured light 3D camera is the first level, the infrared sensor in the structured light 3D camera as the first level is controlled to operate, so that the infrared sensor outputs a synchronization signal to the depth map processor in the structured light 3D camera as the first level. After responding to the synchronization signal, the depth map processor outputs a start signal to the vertical cavity surface emitting laser in the structured light 3D camera as the first level, and outputs a trigger signal to the infrared sensor in the structured light 3D camera at the subsequent level through the NOT gate inversion module until all the structured light 3D cameras at the subsequent level are automatically triggered in sequence.

5. A control device for a structured light 3D camera system, characterized in that: The device is applied to the structured light 3D camera system according to any one of claims 1 to 3, and the device comprises: an acquiring unit configured to acquire hierarchical information corresponding to each of the structured light 3D cameras in the structured light 3D camera system; A control unit is configured to, when the hierarchical information corresponding to the structured light 3D camera is the first level, control the infrared sensor in the structured light 3D camera as the first level to operate, so that the infrared sensor outputs a synchronization signal to the depth map processor in the structured light 3D camera as the first level, and after responding to the synchronization signal, the depth map processor outputs a start signal to the vertical cavity surface emitting laser in the structured light 3D camera as the first level, and outputs a trigger signal to the infrared sensor in the structured light 3D camera at the subsequent level through the NOT gate inversion module, until all the structured light 3D cameras at the subsequent level are automatically triggered in sequence.

6. An electronic device, characterized in that: The electronic device comprises the structured light 3D camera system according to any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the control method of the structured light 3D camera system according to claim 4.

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