A depth measuring method applicable to a first binocular camera having a zoom lens, comprising: obtaining a current depth of a target object to be measured; determining a focus, with which the current depth is measured, as a current focus; obtaining a horizontal movement angle and a vertical movement angle of the first binocular camera; wherein, the horizontal movement angle and the vertical movement angle are a horizontal offset angle and a vertical offset angle respectively which are calculated based on geometric relationship between a first central pixel and a second central pixel, and positional relationship between an image acquisition device and the first binocular camera; the first central pixel is a central point of the image area of the target object in a large field-of-view image, and the second central pixel is a central point of the large field-of-view image; the image acquisition device is a device with a large field of view; and the large field-of-view image is an image acquired by the image acquisition device; adjusting, according to the horizontal movement angle and the vertical movement angle, a shooting angle of the first binocular camera, to position the target object within a field of view of the first binocular camera; determining, according to preset correspondence between depth ranges and focuses, a current reference focus corresponding to a current reference depth range; wherein, the current reference depth range is a depth range within which the current depth falls; determining whether the current focus is the same as the current reference focus; and if the current focus is the same as the current reference focus, determining the current depth as a target depth of the target object; if the current focus is not the same as the current reference focus, adjusting the current focus to the current reference focus, measuring a current depth of the target object with the adjusted current focus, and proceeding back to the operation of determining, according to preset correspondence between depth ranges and focuses, a current reference focus corresponding to a current reference depth range. obtaining a current depth of a target object to be measured; determining a focus, with which the current depth is measured, as a current focus; obtaining a horizontal movement angle and a vertical movement angle of the first binocular camera; wherein, the horizontal movement angle and the vertical movement angle are a horizontal offset angle and a vertical offset angle respectively which are calculated based on geometric relationship between a first central pixel and a second central pixel, and positional relationship between an image acquisition device and the first binocular camera; the first central pixel is a central point of the image area of the target object in a large field-of-view image, and the second central pixel is a central point of the large field-of-view image; the image acquisition device is a device with a large field of view; and the large field-of-view image is an image acquired by the image acquisition device; adjusting, according to the horizontal movement angle and the vertical movement angle, a shooting angle of the first binocular camera, to position the target object within a field of view of the first binocular camera; determining, according to preset correspondence between depth ranges and focuses, a current reference focus corresponding to a current reference depth range; wherein, the current reference depth range is a depth range within which the current depth falls; determining whether the current focus is the same as the current reference focus; and if the current focus is the same as the current reference focus, determining the current depth as a target depth of the target object; if the current focus is not the same as the current reference focus, adjusting the current focus to the current reference focus, measuring a current depth of the target object with the adjusted current focus, and proceeding back to the operation of determining, according to preset correspondence between depth ranges and focuses, a current reference focus corresponding to a current reference depth range.