Dynamic real-time measurement guide assembly equipment based on binocular camera technology

Abstract

The invention relates to the technical field of binocular cameras, and discloses binocular camera technology-based dynamic real-time measurement guide assembly equipment, which comprises a camera supporting table, a plurality of rotating angles are arranged on the outer wall of the camera supporting table, and the plurality of rotating angles are symmetrically distributed on the two sides of the outer wall of the camera supporting table; first control knobs are arranged on the outer walls of the multiple rotation angles, tripod supporting legs are arranged at the bottoms of the multiple rotation angles, the dynamic real-time measurement guiding assembly equipment based on the binocular camera technology is composed of two high-speed and high-resolution industrial cameras, firstly, the two cameras are calibrated in advance through a high-precision optical target, and then the two cameras are calibrated in advance through a high-precision optical target; the method comprises the following steps of: constructing a binocular stereoscopic vision model, modulating and measuring an on-site illumination environment by adopting an infrared light source, synchronously receiving infrared light reflected by an optical target spot by using two cameras, and finally calculating three-dimensional coordinates of a space target spot on the basis of an image analysis and triangular measurement principle so as to realize real-time numerical display of a gap and an order difference.

Description

Technical Field

[0001] The invention relates to the technical field of binocular cameras, in particular to dynamic real-time measurement and guidance assembly equipment based on binocular camera technology. Background Art

[0002] With the development of digitalization, non-contact 3D measurement technology is particularly important for the measurement of aerospace assembly processes. This technology is based on several key technologies such as camera calibration, marker point reconstruction, marker point matching, and pose solution. First, a binocular stereo vision model is constructed through camera calibration technology, and then the 3D coordinates of the marker points are reconstructed based on the visual image.

[0003] The existing technology is unable to provide real-time dynamic guidance to the operator and realize real-time numerical display of gaps and step differences for key assembly docking parts. At any moment of free movement of the workpiece, the visual system can capture the three-dimensional coordinates of several marked points on the workpiece, and the coordinates are based on the visual coordinate system through the marked point matching technology to realize the correspondence between the workpiece coordinate system and the point set under the visual coordinate system. Then, the matrix analysis principle is used to calculate the motion posture of the workpiece, develop high-frequency real-time tracking, and monitor the changes in the docking process of multiple components in real time to improve assembly efficiency and qualified rate, improve the problems existing in the assembly process, and ensure assembly quality. The dynamic real-time tracking and mapping of docking components will have a profound impact on the development of my country's aerospace assembly process monitoring at this stage. However, since the connection of each component is too cumbersome, it is not convenient to quickly replace or disassemble the internal components, and the tripod bracket will be unstable, resulting in a decrease in the working efficiency of the binocular camera. Therefore, we propose a dynamic real-time measurement and guidance assembly device based on binocular camera technology. Summary of the invention

[0004] The present invention provides the following technical solution: a dynamic real-time measurement and guiding assembly device based on binocular camera technology, comprising a camera support platform, the outer wall of the camera support platform is provided with multiple rotation angles, the multiple rotation angles are symmetrically distributed on both sides of the outer wall of the camera support platform, the outer walls of the multiple rotation angles are provided with a first control knob, the bottoms of the multiple rotation angles are provided with a tripod leg, the outer wall of the tripod leg is provided with a sliding block, the outer wall of the sliding block is provided with a second control knob, the outer wall of the second control knob is provided with a fixed long rod, the outer wall of the fixed long rod is provided with a circular magnetic block, the top of the camera support platform is provided with a connecting disk, the top of the connecting disk is provided with a power supply box, the top of the power supply box is provided with a connecting component, the top of the connecting component is provided with a controller, the outer wall of the controller is provided with a connecting bracket, the controller is provided with a connecting bracket, and the outer wall of the connecting bracket is provided with a camera.

[0005] As a preferred technical solution of the present invention, a heat dissipation hole is opened on the outer wall of the camera, a lens is arranged on the outer wall of the camera, and a plurality of indication buttons are arranged on the outer wall of the controller.

[0006] As a preferred technical solution of the present invention, the connecting plate includes a fixed column located at the top of the camera support platform, the outer wall of the fixed column is provided with a plurality of limiting protrusions, the outer wall of the fixed column is provided with a connecting column, and the inner wall of the connecting column is provided with a plurality of grooves.

[0007] As a preferred technical solution of the present invention, the side lengths of the plurality of limiting protrusions are equal to the side lengths of the plurality of grooves, and the plurality of limiting protrusions are snap-fitted with the plurality of grooves.

[0008] As a preferred technical solution of the present invention, the connecting assembly includes a connecting block located at the top of the power supply box, the outer wall of the connecting block is provided with a connecting plug plate, the outer wall of the connecting plug plate is provided with a plurality of fixing nuts, the plurality of fixing nuts are symmetrically distributed on both sides of the outer wall of the connecting plug plate, the outer wall of the plurality of fixing nuts is fixedly connected with a first connecting rod, the outer wall of the first connecting rod is provided with a spring, the outer wall of the connecting plug plate is provided with an adjusting knob, the outer wall of the adjusting knob is fixedly connected with a second connecting rod, the outer wall of the connecting block is provided with a T-shaped groove, and the outer wall of the T-shaped groove is provided with a T-shaped sliding plate.

[0009] As a preferred technical solution of the present invention, the tripod legs are rotationally connected to the camera support platform via a rotation angle.

[0010] As a preferred technical solution of the present invention, the tripod legs are sleeved with the sliding block, the fixed long rod supports the sliding block to slide on the outer wall of the tripod legs, and the sliding block is fixed by turning the second control knob after sliding.

[0011] As a preferred technical solution of the present invention, the bottom of the tripod leg is fixedly connected with an anti-skid protrusion, the material of the anti-skid protrusion is made of natural rubber, and the outer wall of the tripod leg is made of steel.

[0012] As a preferred technical solution of the present invention, a magnetic suction device is provided at the bottom of the camera support platform, the circular magnetic block is made of iron, and the connecting bracket is made of an aluminum alloy round tube, which is welded to the cameras on both sides.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The dynamic real-time measurement and guidance assembly equipment based on binocular camera technology is composed of two high-speed and high-resolution industrial cameras. First, the two cameras are pre-calibrated by high-precision optical targets to construct a binocular stereo vision model. Then, an infrared light source is used to modulate the lighting environment of the measurement site. The two cameras synchronously receive the infrared light reflected by the optical target. Finally, based on the principles of image analysis and triangulation, the three-dimensional coordinates of the spatial target are calculated. Based on binocular camera technology, dynamic real-time mapping display of docking components is realized, and real-time dynamic guidance function is provided to the operator. Real-time numerical display of gaps and step differences is realized for key assembly docking parts.

[0015] 2. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology sets a rotatable rotation angle on the outer wall of the bottom camera support platform. The rotation angle can be adjusted by a control knob to ensure the stability of the camera during operation. The outer wall of the tripod leg is provided with a slidable sliding block, and the outer wall of the sliding block is connected to a fixed long rod. When the rotation angle is adjusted to open the triangular legs outward, the long rod drives the sliding block to move downward. The setting of the long rod improves the supporting stability of the tripod legs and greatly improves the working efficiency of the top camera. The bottom of the leg is provided with a rubber anti-slip protrusion to prevent the support frame from slipping when working on a smooth ground, further ensuring the stable operation of the camera.

[0016] 3. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology also uses a binocular camera to separate from the bottom triangular support frame. Since the connection between the various components is too complicated and disassembly is difficult, a limit protrusion is set at the connection to allow the rotatable cylinder to be clamped with the spare battery box. The box body and the controller are connected through a connecting component. Since the T-shaped sliding plate is fixedly connected to the box body, when the box body drives the sliding plate to slide into the T-shaped groove, the adjusting knob is turned, and the knob drives the spring to expand and contract, so that the connecting plug plate is tightened inward to achieve quick disassembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the three-dimensional structure of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0018] Figure 2 A schematic diagram of the three-dimensional structure of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0019] Figure 3 A schematic diagram of the three-dimensional structure of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0020] Figure 4 A schematic diagram of the three-dimensional structure of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0021] Figure 5 Schematic diagram of the tripod structure for dynamic real-time measurement and guidance assembly equipment based on binocular camera technology;

[0022] Figure 6 A schematic diagram of the camera assembly structure of a dynamic real-time measurement guidance assembly device based on binocular camera technology;

[0023] Figure 7 A schematic diagram of the structure of the connection components of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0024] Figure 8 A schematic diagram of the structure of the connection components of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0025] Fig. 9 A schematic diagram of the structure of the connection components of the dynamic real-time measurement guidance assembly equipment based on binocular camera technology;

[0026] In the figure: 1. camera support platform; 2. rotation angle; 3. first control knob; 4. tripod leg; 5. sliding block; 6. second control knob; 7. fixed long rod; 8. round magnetic block; 9. connecting plate; 91. fixing column; 92. limiting protrusion; 93. connecting column; 94. groove; 10. power supply box; 11. connecting assembly; 111. connecting block; 112. connecting plug plate; 113. fixing nut; 114. first connecting rod; 115. spring; 116. second connecting rod; 117. adjusting knob; 118. T-shaped groove; 119. T-shaped sliding plate; 12. controller; 13. connecting bracket; 14. camera; 15. lens; 16. heat dissipation hole; 17. indicator button. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-9A dynamic real-time measurement and guided assembly device based on binocular camera technology comprises a camera support platform 1, a plurality of rotation angles 2 are arranged on the outer wall of the camera support platform 1, the plurality of rotation angles 2 are symmetrically distributed on both sides of the outer wall of the camera support platform 1, a first control knob 3 is arranged on the outer wall of the plurality of rotation angles 2, a tripod leg 4 is arranged at the bottom of the plurality of rotation angles 2, a sliding block 5 is arranged on the outer wall of the tripod leg 4, a second control knob 6 is arranged on the outer wall of the sliding block 5, a fixed long rod 7 is arranged on the outer wall of the second control knob 6, a circular magnetic block 8 is arranged on the outer wall of the fixed long rod 7, a connecting disk 9 is arranged on the top of the camera support platform 1, a power supply box 10 is arranged on the top of the power supply box 10, a connecting component 11 is arranged on the top of the connecting component 11, a controller 12 is arranged on the top of the connecting component 11, a connecting bracket 13 is arranged on the outer wall of the controller 12, the controller 12 is provided with a connecting bracket 13, and a camera 14 is arranged on the outer wall of the connecting bracket 13.

[0029] See also Figure 4 The outer wall of the camera 14 is provided with a heat dissipation hole 16 , the outer wall of the camera 14 is provided with a lens 15 , and the outer wall of the controller 12 is provided with a plurality of indication buttons 17 .

[0030] It should be noted that the heat dissipation holes 16 opened on the outer wall of the camera 14 use metal heat sinks to promote heat dissipation inside the probe. Long-term operation in a high-temperature environment will accelerate the aging of the electronic components inside the camera. Effective heat dissipation can reduce the internal temperature of the camera, reduce the loss of components, and enable the camera to be used normally for a longer period of time. If the heat cannot be dissipated in time, it may cause the camera processor and other components to be down-clocked, affecting the frame rate and image quality of the shooting. Good heat dissipation can allow the camera to always work at its best performance.

[0031] See also Figure 7 The connecting plate 9 comprises a fixing column 91 located at the top of the camera support platform 1, the outer wall of the fixing column 91 is provided with a plurality of limiting protrusions 92, the outer wall of the fixing column 91 is provided with a connecting column 93, and the inner wall of the connecting column 93 is provided with a plurality of grooves 94.

[0032] It should be noted that since the outer wall of the fixing column 91 is provided with a plurality of limiting protrusions 92, the side lengths of the plurality of limiting protrusions 92 are equal to the side lengths of the plurality of grooves 94, the card connection is more fitted and more secure to prevent loosening. When the camera needs to be rotated, rotating the fixing column 91 can drive the rotation of the top camera, making it convenient to move the direction without moving the bracket, effectively improving the convenience.

[0033] See also Figure 8 : The side length of the plurality of limiting protrusions 92 is equal to the side length of the plurality of grooves 94 , and the plurality of limiting protrusions 92 are snap-connected with the plurality of grooves 94 .

[0034] It should be noted that the side length of the limiting protrusion 92 is equal to the side length of the plurality of grooves 94, so that the snap connection is more fitted and more secure, thereby preventing poor detection results caused by looseness and improving the accuracy of equipment monitoring data.

[0035] See also Fig. 9 The connecting component 11 includes a connecting block 111 located at the top of the power supply box 10, the outer wall of the connecting block 111 is provided with a connecting plug plate 112, the outer wall of the connecting plug plate 112 is provided with a plurality of fixing nuts 113, the plurality of fixing nuts 113 are symmetrically distributed on both sides of the outer wall of the connecting plug plate 112, the outer wall of the plurality of fixing nuts 113 is fixedly connected with a first connecting rod 114, the outer wall of the first connecting rod 114 is provided with a spring 115, the outer wall of the connecting plug plate 112 is provided with an adjusting knob 117, the outer wall of the adjusting knob 117 is fixedly connected with a second connecting rod 116, the outer wall of the connecting block 111 is provided with a T-shaped groove 118, and the outer wall of the T-shaped groove 118 is provided with a T-shaped sliding plate 119.

[0036] It should be noted that the T-shaped sliding plate 119 is fixedly connected to the outer wall of the bottom power supply box 10. When the power supply box 10 drives the T-shaped sliding plate 119 to enter the inner wall of the T-shaped groove 118, the adjusting knob 117 can be turned, and the adjusting knob 117 drives the spring 115 to expand and contract so that the connecting plug plate 112 is fixed to the connecting block 111. The bottom protrusion of the connecting plug plate 112 is tightened inward after the adjusting knob 117 is turned, and the bottom of the connecting plug plate 112 coincides with the inclined surface of the side wall of the T-shaped sliding plate 119, and the connecting plug plate 112 is moved to the connecting block 111. The internally tightened connecting plug plate 112 effectively fixes the T-shaped sliding plate 119 to prevent the T-shaped sliding plate 119 from being displaced and causing the assembly to be unstable, allowing the parts to be quickly disassembled. The side inclined surface of the T-shaped sliding plate 119 is consistent with the T-shaped groove 118. The T-shaped sliding plate 119 enters the T-shaped groove 118 to reduce the shaking caused by the different shapes that makes the internal components unstable, effectively increasing the stability of the equipment, and preventing the decrease in work efficiency due to internal component failure or looseness, and inconvenient replacement.

[0037] See also Figure 5 : The tripod legs 4 are rotationally connected to the camera support platform 1 via a rotation angle 2.

[0038] It should be noted that when the tripod leg 4 needs to be rotated, it can be quickly adjusted by turning the adjustment knob so that the tripod leg 4 can be rotated on the outer wall of the camera support platform 1 through the rotation angle 2. It can be adjusted to a suitable position to make the bracket stable, which is convenient for real-time monitoring of the top camera. The stability of the support frame increases the detection efficiency of the equipment.

[0039] See also Figure 5: The tripod legs 4 are sleeved with the sliding block 5, and the fixed long rod 7 supports the sliding block 5 to slide on the outer wall of the tripod legs 4. After the sliding block 5 slides, it is fixed by rotating the second control knob 6.

[0040] It should be noted that a sliding block 5 is provided on the outer wall of the tripod leg 4. When the tripod leg 4 is stretched outward, the sliding block 5 is sleeved on the outer wall of the tripod leg 4, and the outer wall of the sliding block 5 is fixedly connected with a fixed long rod 7. The fixed long rod 7 increases the stability of the tripod leg 4. When the sliding block 5 slides to make the tripod leg 4 sufficiently stable, the second control knob 6 on the side is rotated to fix the sliding block 5, which greatly increases the stability of the support frame and reduces the inaccuracy of the camera detection result caused by the shaking of the bottom bracket.

[0041] See also Figure 4 The bottom of the tripod leg 4 is fixedly connected with an anti-skid protrusion, the material of the anti-skid protrusion is made of natural rubber, and the outer wall of the tripod leg 4 is made of steel.

[0042] It should be noted that in order to prevent the support frame from slipping when working on a smooth ground, the stable operation of the camera is further ensured and shaking is reduced. The outer wall of the tripod leg 4 is made of steel, which effectively increases the stability of the support leg.

[0043] See also Figure 4 : A magnetic device is provided at the bottom of the camera support platform 1, the circular magnetic block 8 is made of iron, and the connecting bracket 13 is made of an aluminum alloy round tube, which is welded to the cameras 14 on both sides.

[0044] It should be noted that when the device needs to be stored after use, since a magnetic suction device is provided at the bottom of the camera support platform 1, the circular magnetic block 8 at the bottom can be adsorbed on the camera support platform 1 when moving upward, to prevent the triangular legs from spreading outward and becoming inconvenient for storage due to falling due to gravity. The camera connection bracket 13 is made of an aluminum alloy round tube, which is welded to the cameras on both sides to facilitate stable support of the dual cameras, reduce a series of problems such as the frequency of camera lens shaking caused by fragile structure, and effectively improve the working efficiency of the equipment.

[0045] Working principle: when the device needs to be used, the tripod legs 4 on both sides of the camera support platform 1 are adjusted, and the first control knob 3 is turned to make the tripod legs 4 open outward through the rotation angle 2. Since the sliding block 5 is sleeved on the outer wall of the tripod legs 4, the outer wall of the sliding block 5 is fixedly connected with a fixed long rod 7. When the tripod legs 4 are opened outward, each tripod leg 4 is reinforced by the fixed long rod 7, and the opening angle of each side of the supporting leg is limited, so that the tripod legs 4 are in a stable state, and one side is prevented from tipping over due to different opening and closing angles of the tripod legs 4, thereby increasing the stability of the device;

[0046] Since the top of the camera support platform 1 is fixedly connected with a fixing column 91, the outer wall of the fixing column 91 is provided with a plurality of limiting protrusions 92, and the groove 94 limits the limiting protrusions 92, so that the fixing column 91 is clamped on the connecting column 93 for easy disassembly, and the lens 15 can be rotated through the fixing column 91. Since one side of the connecting column 93 is fixed to the bottom of the power supply box 10, the top of the power supply box 10 is fixedly connected with a T-shaped sliding plate 119. When the power supply box 10 drives the T-shaped sliding plate 119 to enter the inner wall of the T-shaped groove 118, the adjustment can be rotated. The adjusting knob 117 drives the spring 115 to extend and retract so that the connecting plug plate 112 is fixed on the connecting block 111, wherein the bottom extension block of the connecting plug plate 112 is tightened inward after the adjusting knob 117 is turned, and the bottom of the connecting plug plate 112 is matched with the inclined surface of the side wall of the T-shaped sliding plate 119, and the inwardly tightened connecting plug plate 112 effectively fixes the T-shaped sliding plate 119, preventing the T-shaped sliding plate 119 from being displaced and making the assembly unstable, so that the parts can be quickly disassembled;

[0047] A controller 12 is connected to the top of the connecting block 111. The outer wall of the controller 12 is provided with a round tube connecting bracket 13 made of aluminum alloy, and the round tube connecting bracket 13 is welded to the cameras 14 on both sides. The cameras 14 on both sides are on the same horizontal line. During actual calibration, the handheld plane calibration plate is held at different angles and orientations. The dual cameras in the binocular measurement system simultaneously shoot the calibration plate to obtain a group of images as calibration images, wherein the two images obtained by the left and right cameras at the same time are called an image pair. From the principle of projective transformation, it can be seen that the central projection maps a point on a plane to a point on another plane. Therefore, under the camera pinhole model, the imaging process for the plane calibration plate can be considered as a projective transformation process. Under the binocular stereo imaging model, since the compound of the projective mapping is also a projective mapping, during the calibration process, from the calibration plate to the image and between the two images, the projection is followed. The mapping relationship is that the outer wall of the camera 14 is provided with a lens 15. The two cameras 14 are pre-calibrated by a high-precision optical target, thereby constructing a binocular stereo vision model, and then an infrared light source is used to modulate the lighting environment of the measurement site. The two cameras synchronously receive the infrared light reflected by the optical target, and finally calculate the three-dimensional coordinates of the spatial target based on the image analysis and triangulation principle. During the measurement process, for each frame of the image set captured by the visual system, each camera collects an image, and the three-dimensional coordinates of all the marked points in this frame of the image set are calculated by three-dimensional reconstruction, thereby constructing the three-dimensional point set corresponding to this frame, and establishing the corresponding relationship between the marked points of each frame and the global framework points. During the assembly docking process, the operator can correct the docking part position in real time according to the computer display, and finally achieve a perfect docking effect, realizing real-time dynamic mapping of parts on the computer side;

[0048] Since the outer wall of the camera 14 is provided with heat dissipation holes 16, effective heat dissipation can lower the internal temperature of the camera, reduce the loss of components, and enable the camera to be used normally for a longer period of time.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dynamic real-time measurement and guidance assembly device based on binocular camera technology, comprising a camera support platform (1), characterized in that: The outer wall of the camera support platform (1) is provided with a plurality of rotation angles (2), and the plurality of rotation angles (2) are symmetrically distributed on both sides of the outer wall of the camera support platform (1). The outer walls of the plurality of rotation angles (2) are provided with a first control knob (3), and the bottoms of the plurality of rotation angles (2) are provided with a tripod leg (4). The outer wall of the tripod leg (4) is provided with a sliding block (5), and the outer wall of the sliding block (5) is provided with a second control knob (6). The outer wall of the second control knob (6) is provided with a fixed long rod (7). The outer wall of the fixed long rod (7) is provided with a circular magnetic block (8), the top of the camera support platform (1) is provided with a connecting disk (9), the top of the connecting disk (9) is provided with a power supply box (10), the top of the power supply box (10) is provided with a connecting component (11), the top of the connecting component (11) is provided with a controller (12), the outer wall of the controller (12) is provided with a connecting bracket (13), the controller (12) is provided with a connecting bracket (13), and the outer wall of the connecting bracket (13) is provided with a camera (14).

2. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1 is characterized in that: The outer wall of the camera (14) is provided with a heat dissipation hole (16), the outer wall of the camera (14) is provided with a lens (15), and the outer wall of the controller (12) is provided with a plurality of indication buttons (17).

3. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1 is characterized in that: The connecting plate (9) comprises a fixing column (91) located at the top of the camera support platform (1), the outer wall of the fixing column (91) is provided with a plurality of limiting protrusions (92), the outer wall of the fixing column (91) is provided with a connecting column (93), and the inner wall of the connecting column (93) is provided with a plurality of grooves (94).

4. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1 is characterized in that: The side lengths of the plurality of limiting protrusions (92) are equal to the side lengths of the plurality of grooves (94), and the plurality of limiting protrusions (92) are snap-connected with the plurality of grooves (94).

5. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1, characterized in that: The connection assembly (11) comprises a connection block (111) located at the top of the power supply box (10); a connection plug plate (112) is provided on the outer wall of the connection block (111); a plurality of fixing nuts (113) are provided on the outer wall of the connection plug plate (112); the plurality of fixing nuts (113) are symmetrically distributed on both sides of the outer wall of the connection plug plate (112); a first connection rod (114) is fixedly connected to the outer wall of the plurality of fixing nuts (113); a spring (115) is provided on the outer wall of the first connection rod (114); an adjustment knob (117) is provided on the outer wall of the connection plug plate (112); a second connection rod (116) is fixedly connected to the outer wall of the adjustment knob (117); a T-shaped groove (118) is provided on the outer wall of the connection block (111); and a T-shaped sliding plate (119) is provided on the outer wall of the T-shaped groove (118).

6. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1, characterized in that: The tripod legs (4) are rotationally connected to the camera support platform (1) via a rotation angle (2).

7. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1 is characterized in that: The tripod legs (4) are sleeved with the sliding block (5), the fixed long rod (7) supports the sliding block (5) to slide on the outer wall of the tripod legs (4), and the sliding block (5) is fixed by rotating the second control knob (6) after sliding.

8. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1, characterized in that: The bottom of the tripod leg (4) is fixedly connected with an anti-skid protrusion, the material of the anti-skid protrusion is made of natural rubber, and the outer wall of the tripod leg (4) is made of steel.

9. The dynamic real-time measurement and guided assembly equipment based on binocular camera technology according to claim 1, characterized in that: A magnetic device is provided at the bottom of the camera support platform (1); the circular magnetic block (8) is made of iron; the connecting bracket (13) is made of an aluminum alloy round tube and is welded to the cameras (14) on both sides.

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