Installation method, device, electronic device and storage medium of binocular vision module

Abstract

This application proposes a method, device, electronic device, and storage medium for installing a binocular vision module. The installation method includes: determining the installation height and angle of the binocular vision module in a robotic device based on binocular vision module parameters, including lens focal length, field of view angle, distance between modules, and scanning distance of an algorithm chip set within the module; and installing the binocular vision module in the robotic device according to the installation height and installation angle. Based on the relationship between binocular vision module parameters and installation height and installation angle, this application can effectively guide the installation of the binocular vision module, thereby maximizing the visible area of ​​the installed binocular vision module.

Description

Technical Field

[0001] The present application relates to the technical field of binocular vision systems, and in particular to an installation method, device, electronic device, and storage medium for a binocular vision module. Background Art

[0002] The binocular vision module is typically mounted at a specific height and pitch angle in front of the robot. The robot's depth perception area is defined as the area directly in front of it, as perceived by the module during normal operation. In other words, the robot can only perceive the area directly in front of it, as detected by the module's cone of perception. If the binocular vision module is not mounted at the appropriate height and angle, significant blind spots will exist to the left and right of the robot. This can prevent the robot from detecting obstacles that appear suddenly or are suspended in the air, negatively impacting its operational safety.

[0003] Therefore, how to avoid the impact of large perception blind spots on the safety of robot operation has become one of the urgent problems to be solved in this field. Summary of the Invention

[0004] The main purpose of the embodiments of this application is to provide a binocular vision module installation method, device, electronic device, and storage medium. The purpose is to effectively guide the installation of the binocular vision module based on the relationship between binocular vision module parameters and installation height and installation angle, thereby maximizing the visible area of ​​the binocular vision module after installation.

[0005] To achieve the above objectives, a first aspect of an embodiment of the present application provides a method for installing a binocular vision module, comprising:

[0006] Determining the installation height and installation angle of the binocular vision module in the robot device according to binocular vision module parameters, wherein the binocular vision module parameters include lens focal length, field of view angle, distance between modules, and scanning distance of the algorithm chip set in the module;

[0007] The binocular vision module is installed in the robot device according to the installation height and the installation angle.

[0008] In some embodiments, determining the installation height and installation angle of the binocular vision module in the robot device according to the binocular vision module parameters includes:

[0009] Obtaining the binocular vision module parameters;

[0010] Determine a first correspondence between the binocular vision module parameters and the installation height and the installation angle based on a geometric model and the structured light triangulation principle;

[0011] According to the first corresponding relationship, the installation height and installation angle of the binocular vision module in the robot device are determined.

[0012] In some embodiments, determining the first correspondence between the binocular vision module parameters and the installation height and the installation angle based on the geometric model and the structured light triangulation principle includes:

[0013] Based on the geometric model, construct a first relational expression, wherein the first relational expression is used to represent the relationship between the actual perceived depth value of the binocular vision module and the field of view angle, the installation height, and the installation angle;

[0014] Determine a second relationship based on the structured light triangulation principle, where the second relationship represents the relationship between the actual perceived depth value of the binocular vision module and the focal length of the lens, the distance between the modules, and the scanning distance of the algorithm chip provided in the module;

[0015] According to the first relationship and the second relationship, a first corresponding relationship between the binocular vision module parameters and the installation height and the installation angle is determined.

[0016] In some embodiments, the first relationship is:

[0017]

[0018] Wherein, d represents the actual perceived depth value of the binocular vision module, h represents the installation angle, FOV represents the field of view angle, and θ represents the installation angle.

[0019] In some embodiments, the second relationship is:

[0020]

[0021] Wherein, d represents the actual perceived depth value of the binocular vision module, f represents the focal length of the lens, b represents the distance between the modules, and L represents the scanning distance of the algorithm chip set in the module.

[0022] In some embodiments, the first correspondence is represented by the following formula:

[0023]

[0024] Wherein, h represents the installation angle, f represents the focal length of the lens, b represents the distance between the modules, FOV represents the field of view angle, θ represents the installation angle, and L represents the scanning distance of the algorithm chip set in the module.

[0025] In some embodiments, when the installation conditions of the robotic device cannot meet the installation height or the installation angle, the method includes:

[0026] Determine the installation height range and installation angle range according to the installation conditions of the robotic device;

[0027] According to the first corresponding relationship, reselect a binocular vision module that meets the installation height range and the installation angle range for installation;

[0028] Alternatively, the binocular vision module parameters are adjusted according to the installation height range, the installation angle range and the first corresponding relationship before installation.

[0029] To achieve the above-mentioned objectives, a second aspect of an embodiment of the present application provides a device for installing a binocular vision module, comprising:

[0030] A determination module is used to determine the installation height and installation angle of the binocular vision module in the robot device according to the binocular vision module parameters, wherein the binocular vision module parameters include lens focal length, field of view angle, distance between modules, and scanning distance of the algorithm chip set in the module;

[0031] An installation module is used to install the binocular vision module into the robot device according to the installation height and the installation angle.

[0032] To achieve the above-mentioned purpose, a third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned method when executing the computer program.

[0033] To achieve the above-mentioned purpose, a fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program implements the above-mentioned method when executed by a processor.

[0034] This application proposes a method, device, electronic device, and storage medium for installing a binocular vision module. The installation method includes: determining the installation height and angle of the binocular vision module in a robotic device based on binocular vision module parameters, including lens focal length, field of view angle, distance between modules, and scanning distance of an algorithm chip set within the module; and installing the binocular vision module in the robotic device according to the installation height and installation angle. Based on the relationship between binocular vision module parameters and installation height and installation angle, this application can effectively guide the installation of the binocular vision module, thereby maximizing the visible area of ​​the installed binocular vision module. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flowchart of the steps of the installation method of the binocular vision module provided in the embodiment of the present application;

[0036] Figure 2 This is a flowchart of the steps for determining the installation height and installation angle of the binocular vision module in the robot device according to the binocular vision module parameters provided in an embodiment of the present application;

[0037] Figure 3 This is a flowchart of the steps for determining a first correspondence between binocular vision module parameters and installation height and installation angle based on a geometric model and the structured light triangulation ranging principle provided by an embodiment of the present application;

[0038] Figure 4 This is a schematic diagram of the principle of the corresponding relationship between the binocular vision module parameters and the installation height and installation angle provided in the embodiment of the present application;

[0039] Figure 5 This is a flowchart of steps performed when the installation conditions of the robot device cannot meet the installation height or installation angle provided by the embodiment of the present application;

[0040] Figure 6 Schematic diagram of the structure of the installation device of the binocular vision module provided in an embodiment of the present application;

[0041] Figure 7 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0043] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0045] The rapid development of robotics has expanded the application of robots from traditional high-precision, repetitive operations involving fixed targets to flexible operations where the objects and positions of the objects can be changed. Robots urgently need machine vision to obtain three-dimensional information about the objects they are working on. Stereo vision sensors, due to their non-contact, high-information-capacity, real-time, and rapid performance, have become a primary method for acquiring three-dimensional environmental information.

[0046] Binocular vision modules are a common type of stereo vision sensor. Most existing binocular vision modules consist of two cameras placed symmetrically in parallel within a device. Each camera captures a mapped image of the same feature point within its field of view and calculates the specific position of that feature point in three-dimensional space based on the principle of parallax. This allows for dynamic acquisition of the positions of multiple feature points.

[0047] However, if the installation height and angle of the binocular vision module are not appropriate, there will be large perception blind spots on the left and right sides of the robot. This will make the robot unable to perceive obstacles that suddenly appear on the side or are suspended in the air, which will have an adverse impact on the robot's operational safety.

[0048] In related technologies, most of them use random debugging to determine the installation height and installation angle. This method has a complicated debugging process, and because there is no effective data for debugging guidance, even at the final installation height and installation angle, there are still perception blind spots within the field of view angle range, which makes it impossible to maximize the function of the module product and wastes costs.

[0049] Based on this, the present application proposes a method for installing a binocular vision module, which aims to effectively guide the installation of the binocular vision module based on the relationship between binocular vision module parameters and installation height and installation angle, so as to maximize the visible area of ​​the binocular vision module after installation.

[0050] Reference Figure 1 , Figure 1 This is a flowchart of the steps of the installation method of the binocular vision module provided in the embodiment of the present application, including but not limited to steps S101 to S102.

[0051] Step S101, determining the installation height and installation angle of the binocular vision module in the robot device based on the binocular vision module parameters, where the binocular vision module parameters include lens focal length, field of view angle, distance between modules, and scanning distance of the algorithm chip set in the module;

[0052] Step S102: Install the binocular vision module into the robot device according to the installation height and installation angle.

[0053] In the embodiments of the present application, the binocular vision module's installation height and angle within the robotic device are determined based on the binocular vision module's parameters, namely, the lens focal length, field of view angle, the distance between modules, and the scanning distance of the algorithm chip within the module. The binocular vision module is then installed within the robotic device according to these heights and angles. The installation height and angle determined based on the binocular vision module's parameters maximize the visual area of ​​the installed binocular vision module.

[0054] Reference Figure 2 , Figure 2 This is a flowchart of the steps for determining the installation height and installation angle of the binocular vision module in the robot device based on the binocular vision module parameters provided in an embodiment of the present application, including but not limited to steps S201 to S203.

[0055] Step S201, obtaining binocular vision module parameters;

[0056] Step S202: determining a first correspondence between binocular vision module parameters and installation height and installation angle based on a geometric model and the structured light triangulation principle;

[0057] Step S203: Determine the installation height and installation angle of the binocular vision module in the robot device according to the first corresponding relationship.

[0058] In the present embodiment, the binocular vision module parameters are first determined, namely the lens focal length, field of view angle, inter-module distance, and the scanning distance of the algorithm chip installed in the module. Then, based on the geometric model and the principle of structured light triangulation, a first correspondence between the binocular vision module parameters and the installation height and installation angle is determined. Based on this first correspondence, the installation height and installation angle of the binocular vision module in the robot device are determined.

[0059] Among them, reference Figure 3 , Figure 3 This is a flowchart of the steps provided in an embodiment of the present application for determining the first correspondence between binocular vision module parameters and installation height and installation angle based on a geometric model and the principle of structured light triangulation, including but not limited to steps S301 to S303.

[0060] Step S301: constructing a first relational expression based on a geometric model, wherein the first relational expression is used to represent the relationship between the actual perceived depth value of the binocular vision module and the field of view angle, installation height, and installation angle;

[0061] Step S302: Determine a second relationship based on the structured light triangulation principle. The second relationship is used to represent the relationship between the actual perceived depth value of the binocular vision module and the focal length of the lens, the distance between the modules, and the scanning distance of the algorithm chip set in the module.

[0062] Step S303: Determine a first corresponding relationship between binocular vision module parameters and installation height and installation angle according to the first relationship and the second relationship.

[0063] In the embodiments of this application, specifically, refer to Figure 4 , Figure 4 This is a schematic diagram of the principle of the corresponding relationship between the binocular vision module parameters and the installation height and installation angle provided in the embodiment of this application. Figure 4 As shown, the determined installation angle is θ and the installation height is h, where the installation height h is the height of the binocular vision module center point O from the ground. ∠AOC is the binocular vision module's field of view (FOV), OM is the angle bisector of the field of view angle ∠AOC, and point A is the intersection of the light from the binocular vision module's edge field of view and the ground. Through point A, draw a straight line perpendicular to the module's central axis OM, with the intersection point being E. According to the geometric model, the following identity is obtained:

[0064]

[0065] In the right triangle OAF, we have:

[0066]

[0067] For point A on the ground, the depth value actually perceived by the binocular vision module is OE, represented by d:

[0068]

[0069] According to the principle of structured light triangulation, we can get:

[0070]

[0071] In Formula 4, d represents the actual perceived depth value of the binocular vision module, f represents the focal length of the lens, b represents the distance between modules, and L represents the scanning distance of the algorithm chip set in the module.

[0072] Therefore, combining Equation 3 and Equation 4, we can get:

[0073]

[0074] Where h represents the installation angle, f represents the focal length of the lens, b represents the distance between modules, FOV represents the field of view, θ represents the installation angle, and L represents the scanning distance of the algorithm chip set in the module.

[0075] In the embodiment of the present application, since the installation height, installation angle and binocular vision module parameters have a relationship as shown in Formula 5, it can effectively help in the initial stage of product design, according to the actual application scenario, to compromise between the module lens focal length, the module field of view (FOV), the distance between modules, the scanning distance of the algorithm chip set in the module and the installation angle and installation height, to achieve the optimal design and shorten the R&D cycle. In other words, at the beginning of the design of the module product, the installation angle and installation height of its application scenario are comprehensively considered, and modules that can adapt to the corresponding application scenario are produced in a targeted manner, that is, the various parameters of the binocular vision module can be determined according to the installation angle and installation height of the application scenario, so as to design and produce module products with corresponding parameter values, which can avoid blind production and the inability of the produced module products to be applicable to the corresponding application scenario. For example, the binocular vision module is installed in a robot device to assist the robot in operation and avoid obstacles in front. However, due to the influence of the structure and height of the robot device, the installation angle and installation height of the binocular vision module will be limited. At this time, it is necessary to design a binocular vision module that can be applicable to the robot device within the limit range.

[0076] Reference Figure 5 , Figure 5 This is a flowchart of steps provided by an embodiment of the present application, which is executed when the installation conditions of the robot equipment cannot meet the installation height or installation angle, including but not limited to steps S501 to S503.

[0077] Step S501, determining the installation height range and installation angle range according to the installation conditions of the robot device;

[0078] Step S502: reselecting a binocular vision module that meets the installation height range and the installation angle range according to the first corresponding relationship for installation;

[0079] Step S503 , alternatively, adjusting the binocular vision module parameters according to the installation height range, the installation angle range, and the first corresponding relationship before installing.

[0080] In an embodiment of the present application, when the installation conditions of the robot equipment cannot meet the installation height or installation angle, two ways can be used to deal with it. One is to determine the installation height range and the installation angle range according to the installation conditions of the robot equipment. For example, the installation height range and the installation angle range can be determined based on the height and structure of the robot equipment. Then, based on the correspondence between the installation height, installation angle and binocular vision module parameters, that is, according to Formula 5, the binocular vision module is reselected to select a binocular vision module that meets the installation height range and installation angle range. Since the binocular vision module will have corresponding product parameters after production, after selection, the final installation angle and installation height can be determined based on the selected binocular vision module parameters and Formula 5. Among them, the final installation angle is within the installation angle range determined according to the installation conditions, and the installation height is within the installation height range determined according to the installation conditions. Second, according to the installation conditions of the robot equipment, after determining the installation height range and installation angle range, the binocular vision module parameters are adjusted according to the installation height range, installation angle range and Formula 5, and then the adjusted binocular vision module parameters are obtained. The final installation height and installation angle are determined based on the adjusted binocular vision module parameters and Formula 5.

[0081] In the embodiment of the present application, the determined relationship between the binocular vision module parameters and the installation height and installation angle can effectively guide the installation of the binocular vision module, so as to maximize the visual range of the binocular vision module after installation; at the same time, based on the relationship between the binocular vision module parameters and the installation height and installation angle, the various design parameters of the module can be adjusted in advance during the product design stage in combination with the actual application scenario requirements, so as to avoid the discovery of the existence of blind spots after the product is manufactured.

[0082] See also Figure 6 The embodiment of the present application further provides a binocular vision module installation device 60, which can implement the above binocular vision module installation method, and the device includes:

[0083] Determination module 601, for determining the installation height and installation angle of the binocular vision module in the robot device based on binocular vision module parameters, where the binocular vision module parameters include lens focal length, field of view angle, distance between modules, and scanning distance of the algorithm chip set in the module;

[0084] The installation module 602 is used to install the binocular vision module into the robot device according to the installation height and installation angle.

[0085] The specific implementation of the installation device of the binocular vision module is basically the same as the specific embodiment of the installation method of the binocular vision module mentioned above, and will not be repeated here.

[0086] The present application also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-mentioned binocular vision module installation method. The electronic device can be any smart terminal including a tablet computer, an in-vehicle computer, or the like.

[0087] See also Figure 7 , Figure 7 The hardware structure of the electronic device provided in the embodiment of the present application includes:

[0088] The processor 701 may be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0089] The memory 702 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 702 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 702, and the processor 701 calls and executes the installation method of the binocular vision module in the embodiments of this application;

[0090] Input / output interface 703, used to implement information input and output;

[0091] Communication interface 704, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0092] Bus 705 , which transmits information between various components of the device (e.g., processor 701 , memory 702 , input / output interface 703 , and communication interface 704 );

[0093] The processor 701 , the memory 702 , the input / output interface 703 and the communication interface 704 are connected to each other in communication within the device via a bus 705 .

[0094] An embodiment of the present application also provides a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, the installation method of the above-mentioned binocular vision module is implemented.

[0095] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0096] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0097] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0099] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0100] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0101] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed 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 above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0103] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0105] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0106] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for installing a binocular vision module, characterized in that: include: Determining the installation height and installation angle of the binocular vision module in the robot device according to binocular vision module parameters, wherein the binocular vision module parameters include lens focal length, field of view angle, distance between modules, and scanning distance of the algorithm chip set in the module; Installing the binocular vision module into the robot device according to the installation height and the installation angle; Determining the installation height and installation angle of the binocular vision module in the robot device according to the binocular vision module parameters includes: Obtaining the binocular vision module parameters; Determine a first correspondence between the binocular vision module parameters and the installation height and the installation angle based on a geometric model and the structured light triangulation principle; Determining the installation height and installation angle of the binocular vision module in the robot device according to the first corresponding relationship; The determining of the first corresponding relationship between the binocular vision module parameters and the installation height and the installation angle based on the geometric model and the structured light triangulation ranging principle includes: Based on the geometric model, construct a first relational expression, wherein the first relational expression is used to represent the relationship between the actual perceived depth value of the binocular vision module and the field of view angle, the installation height, and the installation angle; Determine a second relationship based on the structured light triangulation principle, where the second relationship represents the relationship between the actual perceived depth value of the binocular vision module and the focal length of the lens, the distance between the modules, and the scanning distance of the algorithm chip provided in the module; According to the first relationship and the second relationship, a first corresponding relationship between the binocular vision module parameters and the installation height and the installation angle is determined.

2. The method according to claim 1, characterized in that The first relational expression is: Wherein, d represents the actual perceived depth value of the binocular vision module, h represents the installation angle, FOV represents the field of view angle, and θ represents the installation angle.

3. The method according to claim 1, characterized in that The second relational expression is: Wherein, d represents the actual perceived depth value of the binocular vision module, f represents the focal length of the lens, b represents the distance between the modules, and L represents the scanning distance of the algorithm chip set in the module.

4. The method according to claim 1, wherein The first corresponding relationship is represented by the following formula: Wherein, h represents the installation angle, f represents the focal length of the lens, b represents the distance between the modules, FOV represents the field of view angle, θ represents the installation angle, and L represents the scanning distance of the algorithm chip set in the module.

5. The method according to claim 1, wherein When the installation condition of the robot device cannot meet the installation height or the installation angle, the method includes: Determine the installation height range and installation angle range according to the installation conditions of the robotic device; According to the first corresponding relationship, reselect a binocular vision module that meets the installation height range and the installation angle range for installation; Alternatively, the binocular vision module parameters are adjusted according to the installation height range, the installation angle range and the first corresponding relationship before installation.

6. A mounting device for a binocular vision module, characterized in that: include: A determination module is used to determine the installation height and installation angle of the binocular vision module in the robot device according to the binocular vision module parameters, wherein the binocular vision module parameters include lens focal length, field of view angle, distance between modules, and scanning distance of the algorithm chip set in the module; An installation module, used to install the binocular vision module into the robot device according to the installation height and the installation angle; The determining module determines the installation height and installation angle of the binocular vision module in the robot device according to the binocular vision module parameters, including: Obtaining the binocular vision module parameters; Determine a first correspondence between the binocular vision module parameters and the installation height and the installation angle based on a geometric model and the structured light triangulation principle; Determining the installation height and installation angle of the binocular vision module in the robot device according to the first corresponding relationship; The determining of the first corresponding relationship between the binocular vision module parameters and the installation height and the installation angle based on the geometric model and the structured light triangulation ranging principle includes: Based on the geometric model, construct a first relational expression, wherein the first relational expression is used to represent the relationship between the actual perceived depth value of the binocular vision module and the field of view angle, the installation height, and the installation angle; Determine a second relationship based on the structured light triangulation principle, where the second relationship represents the relationship between the actual perceived depth value of the binocular vision module and the focal length of the lens, the distance between the modules, and the scanning distance of the algorithm chip provided in the module; According to the first relationship and the second relationship, a first corresponding relationship between the binocular vision module parameters and the installation height and the installation angle is determined.

7. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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