The application relates to a
binocular vision-based automatic calibration method for the spatial position of an internal module of an instrument, and comprises the following steps: acquiring the positions of cameras installed in different directions of the instrument; acquiring selected standard objects; under the condition of the same imaging resolution, performing coarse adjustment by using a
large field of view, and then performing fine adjustment by reducing the
field of view; acquiring a set initial step length; controlling a mechanical arm to move according to the step length; identifying the
image boundary and comparing the consistency of pixel positions; judging whether the position deviation of the standard object and a probe is less than a set
error limit; if yes, the current position is acquired; otherwise, the step length is updated, and the step of controlling the mechanical arm to move according to the step length is jumped to. The application is applied to the calibration process of a three-dimensional mechanical arm of an instrument, and
computer vision technology is used to assist manual operation, so that the calibration process is automatically realized, the calibration steps are simplified, the requirement for an operator is reduced, and the
standardization of the calibration process and the
calibration result is easy to realize.