An adjustable baseline binocular vision device

Abstract

This disclosure provides an adjustable baseline binocular vision device, relating to the field of binocular vision technology. It includes a base, with a linkage adjustment unit on the top of the base. Two sets of binocular vision components are driven to the outside of the linkage adjustment unit. The top of the base also includes a flip-type reference unit and a wiring harness constraint assembly. The base includes a bottom plate, with integrally formed side plates on both sides of the top of the bottom plate. The flip-type reference unit includes a blocking seat fixedly mounted on the front side of the top of the bottom plate, with a blocking groove on its top. The flip-type reference unit also includes a rotating shaft nested within the two side plates via ball bearings. This invention, through a hidden flip-type design of the baseline scale, avoids the baseline scale becoming unclear due to dirt, while not affecting normal reference during the binocular camera spacing adjustment process, ensuring adjustment efficiency and user experience.

Description

Technical Field

[0001] This disclosure relates to the field of binocular vision, and more particularly to a binocular vision device with adjustable baseline. Background Technology

[0002] Binocular vision is the core perception component of embodied robots. It relies on dual cameras to simulate human eye parallax to obtain depth information, which helps the robot accurately measure distance, identify environmental obstacles and target objects, and complete practical actions such as grasping, obstacle avoidance and path planning. Compared with monocular vision technology, binocular vision can get rid of calibration and size dependence, improve the robot's ability to interact autonomously in unknown scenarios, and is an indispensable perception foundation for robots to achieve autonomous walking and fine operation.

[0003] In the prior art, after the binocular vision component is installed on the robot, the distance between the two cameras needs to be adjusted according to changes in actual usage requirements, such as the solution disclosed in the utility model patent with authorization announcement number CN 223519715 U.

[0004] In solutions like the one described above, the distance between the two cameras needs to be adjusted using a baseline and baseline scale. Therefore, the clarity of the baseline scale is particularly important. However, in existing solutions, the baseline scale is mostly exposed. Considering the application areas of embodied robots, exposed baseline scale is easily made unclear due to dirt in the working environment. Therefore, the baseline scale needs to be cleaned before adjustment, which affects adjustment efficiency and user experience. Summary of the Invention

[0005] This disclosure provides an adjustable baseline binocular vision device. By employing a hidden and flip-type design for the baseline scale, it avoids the baseline scale becoming unclear due to dirt, while maintaining normal reference during the adjustment of the binocular camera spacing. This ensures adjustment efficiency and user experience, addressing the issue raised in the background art where, in existing solutions, the baseline scale is mostly exposed. Considering the application areas of embodied robots, exposed baseline scale is easily obscured by dirt in the working environment, thus requiring cleaning of the baseline scale before adjustment, affecting adjustment efficiency and user experience.

[0006] According to one aspect of this disclosure, an adjustable baseline binocular vision device is provided, including a base, a linkage adjustment unit disposed on the top of the base, two sets of binocular vision components being drivenly disposed on the outside of the linkage adjustment unit, and a flip-type reference unit and a wire harness constraint component being disposed on the top of the base. The base includes a bottom plate, and the bottom plate has integrally formed side plates on both sides of its top. The flip-type reference unit includes a shielding seat fixedly installed on the front top of the base plate. The shielding seat has a shielding groove on its top. The flip-type reference unit also includes a rotating shaft nested inside the two side plates via ball bearings. An outer sleeve is fixedly sleeved on the outside of the rotating shaft and slides against the inner wall of the shielding groove and the bottom of the two sliders. The bottom of the outer sleeve is provided with a baseline scale. Both ends of the outer side of the rotating shaft are fixedly sleeved with outer rings. A reset torsion spring sleeved on the outside of the rotating shaft is fixedly connected between any one of the outer rings and the adjacent side plate. A coarse-threaded screw is fixedly connected to the right end of the rotating shaft. A coarse-threaded nut fixedly connected to the linkage adjustment unit is screwed onto the outside of the coarse-threaded screw.

[0007] According to one aspect of the technical solution of this disclosure, I-shaped grooves are provided at both ends of the top of the base plate, and a guide rail located between the two side plates is fixedly provided at the center of the top of the base plate.

[0008] According to one aspect of the technical solution of this disclosure, the linkage adjustment unit includes a bidirectional lead screw that is rotatably nested inside two side plates via ball bearings, and an integrally formed flat key is provided at the outer right end of the bidirectional lead screw, and a limit end plate is fixedly connected to the right end of the bidirectional lead screw.

[0009] According to one aspect of the technical solution of this disclosure, a limiting ring is fixedly disposed on the outer side of the bidirectional lead screw and is sleeved on the outer side of the adjacent side plate, and a plurality of limiting slots are evenly opened on the side of the limiting ring.

[0010] According to one aspect of the technical solution of this disclosure, the bidirectional lead screw and the outer side of the flat key are slidably sleeved with a T-shaped sleeve, the top of the left end of the T-shaped sleeve is fixedly connected with a limiting rod that is slidably inserted into the inner side of the adjacent limiting slot, and the left end of the outer side of the T-shaped sleeve is rotatably sleeved with a linkage plate that is fixedly sleeved on the outer side of the coarse thread nut through a ball bearing.

[0011] According to one aspect of the technical solution of this disclosure, any group of binocular vision components includes a slider that is driven and sleeved at one end of a bidirectional lead screw and slidably sleeved at the outside of a guide rail. A fixed seat is fixedly provided on the top of the slider, and an avoidance hole is provided in the middle of the back of the fixed seat.

[0012] According to one aspect of the technical solution of this disclosure, a binocular camera is fixedly installed on the inner side of the mounting base, and a connecting wire is plugged into and fixed at the connection end of the binocular camera.

[0013] According to one aspect of the technical solution of this disclosure, the wire harness constraint assembly includes a sliding shaft that slides through two side plates and is fixedly inserted through a linkage sleeve plate. Two L-shaped plates are fixedly sleeved on the outside of the sliding shaft, and a clamping plate fixedly disposed on the left side of the left side of any one of the L-shaped plates is provided on the top rear side of the base plate.

[0014] According to one aspect of the technical solution of this disclosure, a receiving groove is provided in the middle of the back side of the clamping plate, and a support plate integrally formed with the L-shaped plate is slidably disposed on the inner side of the receiving groove in the horizontal direction. The L-shaped plate and the adjacent clamping plate are both provided with clamping grooves on the top of the side closest to each other. The L-shaped plate and the clamping plate clamp the middle of the adjacent connecting wires through the two clamping grooves.

[0015] In the technical solution of this embodiment: This invention features a flip-type reference unit that allows the baseline scale to be obscured by the inner wall of the shielding groove, preventing it from becoming unclear due to dirt during normal use. When adjusting the distance between the two binocular cameras, the outer sleeve can rotate the baseline scale in tandem, scraping off dirt from the outside of the outer sleeve and rotating the baseline scale above it for guidance. Compared to existing technologies, this invention, through its hidden flip-type design, not only prevents the baseline scale from becoming unclear due to dirt but also maintains normal reference during binocular camera distance adjustment, ensuring adjustment efficiency and user experience.

[0016] This invention incorporates a wire harness constraint assembly, which allows two sets of L-shaped plates and clamping plates to clamp the middle of two connecting wires during device use. This prevents the middle of the connecting wires from swaying and causing traction on both ends, thus preventing the ends of the connecting wires from loosening due to traction. When adjusting the spacing of the binocular camera, the L-shaped plates and clamping plates can work together to release the clamping of the connecting wires, preventing the clamping from affecting the adjustment process. Attached Figure Description

[0017] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0018] Figure 1 This is a schematic diagram of the overall front view of one embodiment of the present disclosure; Figure 2 This is a schematic diagram of the overall rear structure according to one embodiment of the present disclosure; Figure 3 This is a schematic diagram of the structure of a base according to one embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of a linkage adjustment unit according to one embodiment of the present disclosure; Figure 5 This is a schematic diagram of the structure of a binocular vision component according to one embodiment of the present disclosure; Figure 6This is a schematic diagram of the structure of a flip-type reference unit according to one embodiment of the present disclosure; Figure 7 This is a schematic diagram of the structure of a wire harness constraint assembly according to one embodiment of the present disclosure.

[0019] Figure label: 1. Base; 11. Base plate; 12. I-beam groove; 13. Side plate; 14. Guide rail; 2. Linkage adjustment unit; 21. Two-way lead screw; 22. Flat key; 23. Limiting end plate; 24. Limiting ring; 25. Limiting slot; 26. T-shaped sleeve; 27. Limiting rod; 28. Linkage sleeve plate; 3. Binocular vision component; 31. Slider; 32. Fixing base; 33. Clearance hole; 34. Binocular camera 35. Connecting wire; 4. Flip-type reference unit; 41. Shielding seat; 42. Shielding groove; 43. Rotating shaft; 44. Outer sleeve; 45. Baseline scale; 46. Outer ring; 47. Return torsion spring; 48. Coarse thread screw; 49. Coarse thread nut; 5. Wire harness constraint assembly; 51. Sliding shaft; 52. L-shaped plate; 53. Clamping plate; 54. Receiving groove; 55. Support plate; 56. Clamping groove. Detailed Implementation

[0020] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0021] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0023] This invention provides, for example Figures 1-7 The adjustable baseline binocular vision device shown includes a base 1, a linkage adjustment unit 2 is provided on the top of the base 1, two sets of binocular vision components 3 are driven on the outside of the linkage adjustment unit 2, and a flip-type reference unit 4 and a wire harness constraint component 5 are also provided on the top of the base 1.

[0024] like Figure 3As shown, the base 1 includes a base plate 11. Both ends of the top of the base plate 11 are provided with I-shaped slots 12, so that the base plate 11 can be fixedly installed on the robot using the two I-shaped slots 12. Both sides of the top of the base plate 11 are provided with integrally formed side plates 13, which are made of aluminum alloy, lightweight, low density, and reduce the load on the robot end. A guide rail 14 is fixedly provided at the top center of the base plate 11 between the two side plates 13.

[0025] like Figure 4 As shown, the linkage adjustment unit 2 includes a bidirectional lead screw 21 nested inside two side plates 13 via ball bearings. A flat key 22 is integrally formed on the right side of the bidirectional lead screw 21. A limit end plate 23 is fixedly connected to the right side of the bidirectional lead screw 21. A limit ring 24 fixedly set on the outside of the adjacent side plate 13 is sleeved on the outside of the bidirectional lead screw 21. Multiple limit slots 25 are evenly opened on the side of the limit ring 24. A T-shaped sleeve 26 is slidably sleeved on the outside of the bidirectional lead screw 21 and the flat key 22. The limit ring 24 and the T-shaped sleeve 26 are both made of stainless steel, which is high in strength and rust-resistant. A limit rod 27 is fixedly connected to the top of the left end of the T-shaped sleeve 26 and slidably inserted into the inside of the adjacent limit slot 25. An aluminum alloy linkage sleeve plate 28 is rotatably sleeved on the left side of the T-shaped sleeve 26 via ball bearings.

[0026] Therefore, when the distance between the two binocular cameras 34 needs to be adjusted due to changes in actual usage requirements, the T-shaped sleeve 26 is pulled to the right along the bidirectional screw 21 by the flange of the T-shaped sleeve 26 until the T-shaped sleeve 26 is blocked by the limiting end plate 23. At this time, the T-shaped sleeve 26 drives the limiting rod 27 to move out from the inside of the adjacent limiting slot 25. When the T-shaped sleeve 26 is pulled, it drives the linkage sleeve 28 to move synchronously. When the T-shaped sleeve 26 is rotated later, the T-shaped sleeve 26 drives the bidirectional screw 21 to rotate through the flat key 22.

[0027] like Figure 5 As shown, any set of binocular vision components 3 includes a slider 31 that is driven and sleeved on one end of the bidirectional lead screw 21 and slidably sleeved on the outside of the guide rail 14. The slider 31 is made of POM (polyoxymethylene), which has good self-lubricating effect, does not require oiling when in contact with the guide rail 14, is dustproof and wear-resistant, and will not crack in low temperature environment. The top of the slider 31 is fixedly provided with a fixing seat 32 made of ABS engineering plastic, which is insulated and has good toughness. An avoidance hole 33 is opened in the middle of the back of the fixing seat 32. A binocular camera 34 is fixedly installed on the inner side of the fixing seat 32, and a connecting wire 35 is plugged into the connection end of the binocular camera 34.

[0028] Therefore, when the T-shaped sleeve 26 rotates, it drives the bidirectional lead screw 21 to rotate through the flat key 22. When the bidirectional lead screw 21 rotates, it drives the two sliders 31 guided by the guide rail 14 to move closer or further apart. When the two sliders 31 move, they drive the two binocular cameras 34 to move synchronously through the two fixed seats 32.

[0029] like Figure 6 As shown, the flip-type reference unit 4 includes an aluminum alloy shielding seat 41 fixedly mounted on the front top of the base plate 11. The shielding seat 41 has a shielding groove 42 on its top. The flip-type reference unit 4 also includes a rotating shaft 43 rotatably nested inside the two side plates 13 via ball bearings. An outer sleeve 44 is fixedly sleeved on the outside of the rotating shaft 43 and slides against the inner wall of the shielding groove 42 and the bottom of the two sliders 31. The outer sleeve 44 is made of hard frosted plastic. The bottom of the outer sleeve 44 is provided with a baseline scale 45 formed by laser etching. The hard frosted plastic outer sleeve 44 is resistant to acids, alkalis, and oil stains. The baseline scale 45 formed by laser etching is... Wear-resistant and colorfast, it can isolate dust with the shielding groove 42 to achieve dustproof concealment of the baseline scale 45. Both ends of the outer side of the rotating shaft 43 are fixedly sleeved with outer rings 46. Each outer ring 46 is fixedly connected to the adjacent side plate 13 with a reset torsion spring 47 sleeved on the outer side of the rotating shaft 43. The right end of the rotating shaft 43 is fixedly connected with a coarse thread screw 48. The outer side of the coarse thread screw 48 is screwed with a coarse thread nut 49 fixedly set on the inner side of the linkage sleeve plate 28. Both the coarse thread screw 48 and the coarse thread screw 48 are made of stainless steel, which has good rust prevention effect and avoids the increase of frictional resistance between the coarse thread screw 48 and the coarse thread nut 49 after rusting.

[0030] Therefore, when the coarse-thread nut 49 is moved to the right, it drives the coarse-thread screw 48 to rotate 180 degrees counterclockwise. The coarse-thread screw 48 then drives the outer sleeve 44 to rotate via the rotating shaft 43. At this time, the baseline scale 45 located inside the shielding groove 42 is rotated from below the outer sleeve 44 to above it. Simultaneously, the dust on the top of the outer sleeve 44 is scraped off by the edge of the shielding seat 41 during the counterclockwise rotation. In addition, during the counterclockwise rotation of the rotating shaft 43, the rotating shaft 43 passes through the two outer sleeve rings 46. The two reset torsion springs 47 store energy. When the coarse-tooth nut 49 is no longer restricted, the two energy-stored reset torsion springs 47 drive the rotating shaft 43 to rotate clockwise and reset through the two outer rings 46. At this time, the rotating shaft 43 drives the baseline scale 45 to rotate through the outer tube 44, thereby causing the baseline scale 45 to rotate again to below the outer tube 44 and be blocked by the inner wall of the blocking groove 42. At the same time, the rotating shaft 43 drives the coarse-tooth screw 48 to rotate clockwise and reset synchronously. The coarse-tooth screw 48 then drives the coarse-tooth nut 49 to move to the left and reset.

[0031] like Figure 7As shown, the wire harness constraint assembly 5 includes a sliding shaft 51 that slides through the two side plates 13 and is fixedly inserted through the linkage sleeve plate 28. The shaft is made of stainless steel. Two L-shaped plates 52 are fixedly sleeved on the outside of the sliding shaft 51. A clamping plate 53 is fixedly installed on the left side of the left side of each L-shaped plate 52 and is fixedly installed on the rear side of the top of the base plate 11. A receiving groove 54 is opened in the middle of the back of the clamping plate 53. A support plate 55 integrally formed with the L-shaped plate 52 is slidably installed in the horizontal direction inside the receiving groove 54. The L-shaped plate 52, the clamping plate 53 and the support plate 55 are all made of modified PP plastic, which has good toughness and soft contact during clamping, so as not to damage the insulation of the connecting wire 35 and avoid short circuit due to compression damage to the connecting wire 35. A clamping groove 56 is opened on the top of the side of the L-shaped plate 52 and the adjacent clamping plate 53 that is close to each other. The L-shaped plate 52 and the clamping plate 53 clamp the middle of the adjacent connecting wire 35 through the two clamping grooves 56.

[0032] Therefore, during normal use of the device, the two sets of L-shaped plates 52 and clamping plates 53 clamp the middle of the two connecting wires 35 respectively, preventing the middle of the connecting wires 35 from being pulled due to shaking, and preventing the two ends of the connecting wires 35 from loosening due to pulling. When the sliding shaft 51 is driven to move to the right, the sliding shaft 51 drives the two L-shaped plates 52 to move to the right synchronously. Both L-shaped plates 52 move away from the adjacent clamping plates 53, thereby releasing the clamping of the two connecting wires 35. This prevents the connecting wires 35 from being improperly pulled due to being clamped when the two binocular cameras 34 move. When the L-shaped plates 52 move, they drive the support plate 55 to slide inside the adjacent receiving groove 54, thereby always maintaining the support of the connecting wires 35, so that the connecting wires 35 are located between the two clamping grooves 56, which makes it convenient to clamp and fix the connecting wires 35 again after the binocular cameras 34 are adjusted.

[0033] The specific working process of this invention is as follows: During the use of this device, the two sets of L-shaped plates 52 and clamping plates 53 clamp the middle of the two connecting wires 35 respectively, so as to avoid the middle of the connecting wires 35 from being pulled at both ends due to shaking, and to prevent the two ends of the connecting wires 35 from being loosened due to pulling. When the distance between the two binocular cameras 34 needs to be adjusted due to changes in actual usage requirements, the T-shaped sleeve 26 is pulled to the right along the bidirectional screw 21 by the flange of the T-shaped sleeve 26 until the T-shaped sleeve 26 is blocked by the limiting end plate 23. At this time, the T-shaped sleeve 26 drives the limiting rod 27 to move out from the inside of the adjacent limiting slot 25. When the T-shaped sleeve 26 is pulled, it drives the coarse-tooth nut 49 and the sliding shaft 51 to move synchronously through the linkage sleeve plate 28. When the coarse-tooth nut 49 moves to the right, it drives the coarse-tooth screw 48 to rotate 180 degrees counterclockwise. The coarse-tooth screw 48 then drives the outer sleeve 44 to rotate through the rotating shaft 43. At this time, the baseline scale 45 located inside the shielding groove 42 is rotated from below the outer sleeve 44 to above the outer sleeve 44. At the same time, the dust on the top of the outer sleeve 44 is scraped off by the edge of the shielding seat 41 during the counterclockwise rotation. In addition, during the counterclockwise rotation of the rotating shaft 43, the rotating shaft 43 stores energy for the two reset torsion springs 47 through the two outer sleeve rings 46. When the sliding shaft 51 moves to the right, it drives the two L-shaped plates 52 to move to the right. Both L-shaped plates 52 move away from the adjacent clamping plate 53, thereby releasing the clamping of the two connecting wires 35. This prevents improper pulling on the connecting wires 35 when the two binocular cameras 34 move. When the L-shaped plates 52 move, they drive the support plate 55 to slide inside the adjacent receiving groove 54, thereby always maintaining support for the connecting wires 35. This keeps the connecting wires 35 between the two clamping grooves 56, making it convenient to clamp and fix the connecting wires 35 again after the binocular cameras 34 are adjusted. The T-shaped sleeve 26 is rotated. When the T-shaped sleeve 26 rotates, it drives the bidirectional lead screw 21 to rotate through the flat key 22. When the bidirectional lead screw 21 rotates, it drives the two sliders 31 guided by the guide rail 14 to move closer or further apart. When the two sliders 31 move, they drive the two binocular cameras 34 to move synchronously through the two fixed seats 32. During this process, the distance between the two sliders 31 is determined by referring to the baseline scale 45 that is rotated to the top of the outer sleeve 44. After adjustment, loosen the T-shaped sleeve 26. At this time, the two energy-stored reset torsion springs 47 drive the rotating shaft 43 to rotate clockwise and reset through the two outer sleeves 46. At this time, the rotating shaft 43 drives the baseline scale 45 to rotate through the outer sleeve 44, thereby causing the baseline scale 45 to rotate again to below the outer sleeve 44 and be blocked by the inner wall of the blocking groove 42. At the same time, the rotating shaft 43 drives the coarse thread screw 48 to rotate clockwise and reset synchronously. The coarse thread screw 48 then drives the coarse thread nut 49 to move to the left and reset. When the coarse-toothed nut 49 moves to the left, it drives the linkage sleeve 28 to move to the left and reset synchronously. The linkage sleeve 28 then drives the T-shaped sleeve 26 to slide to the left along the outside of the bidirectional screw 21 and the flat key 22 until the T-shaped sleeve 26 drives the limit rod 27 to insert into the inner side of the adjacent limit slot 25 to re-lock. When the linkage sleeve 28 moves to the left, it also drives the sliding shaft 51 to move to the left and reset. The sliding shaft 51 drives the two L-shaped plates 52 to move to the left synchronously, so that the two L-shaped plates 52, together with the two clamping plates 53, clamp and fix the two connecting wires 35 again.

[0034] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0035] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A binocular vision device with adjustable baseline, characterized in that: Includes a base (1), a linkage adjustment unit (2) is provided on the top of the base (1), two sets of binocular vision components (3) are provided on the outside of the linkage adjustment unit (2), and a flip-type reference unit (4) and a wire harness constraint component (5) are also provided on the top of the base (1). The base (1) includes a base plate (11), and the base plate (11) has integrally formed side plates (13) on both sides of its top. The flip-type reference unit (4) includes a shielding seat (41) fixedly disposed on the front top of the base plate (11). The shielding seat (41) has a shielding groove (42) on its top. The flip-type reference unit (4) also includes a rotating shaft (43) rotatably nested inside the two side plates (13) via ball bearings. An outer sleeve (44) is fixedly sleeved on the outside of the rotating shaft (43) and slides against the inner wall of the shielding groove (42) and the bottom of the two sliders (31). 44) A baseline scale (45) is provided at the bottom. Both ends of the outer side of the rotating shaft (43) are fixedly sleeved with outer rings (46). Each outer ring (46) is fixedly connected to the adjacent side plate (13) with a reset torsion spring (47) sleeved on the outer side of the rotating shaft (43). A coarse thread screw (48) is fixedly connected to the right end of the rotating shaft (43). A coarse thread nut (49) fixedly connected to the linkage adjustment unit (2) is screwed to the outer side of the coarse thread screw (48).

2. The adjustable baseline binocular vision device according to claim 1, characterized in that, The bottom plate (11) has I-shaped grooves (12) at both ends of its top, and a guide rail (14) is fixedly installed at the center of the top of the bottom plate (11) between the two side plates (13).

3. The adjustable baseline binocular vision device according to claim 2, characterized in that, The linkage adjustment unit (2) includes a bidirectional lead screw (21) which is rotatably nested inside two side plates (13) via ball bearings. The right end of the bidirectional lead screw (21) is provided with an integrally formed flat key (22). The right end of the bidirectional lead screw (21) is fixedly connected to a limit end plate (23).

4. The adjustable baseline binocular vision device according to claim 3, characterized in that, The outer side of the bidirectional lead screw (21) is fitted with a limiting ring (24) fixedly disposed on the outer side of the adjacent side plate (13), and the side of the limiting ring (24) is evenly provided with multiple limiting slots (25).

5. The adjustable baseline binocular vision device according to claim 4, characterized in that, The bidirectional lead screw (21) and the flat key (22) are slidably sleeved together with a T-shaped sleeve (26). The top left end of the T-shaped sleeve (26) is fixedly connected to a limiting rod (27) that is slidably inserted into the inner side of the adjacent limiting slot (25). The left side of the T-shaped sleeve (26) is rotatably sleeved with a linkage plate (28) that is fixedly sleeved on the outside of the coarse thread nut (49) through a ball bearing.

6. The adjustable baseline binocular vision device according to claim 5, characterized in that, Each of the binocular vision components (3) includes a slider (31) that is connected to the outer end of the bidirectional lead screw (21) and slidably connected to the outer side of the guide rail (14). A fixed seat (32) is fixedly provided on the top of the slider (31), and an avoidance hole (33) is provided in the middle of the back of the fixed seat (32).

7. The adjustable baseline binocular vision device according to claim 6, characterized in that, A binocular camera (34) is fixedly installed on the inner side of the mounting base (32), and a connecting wire (35) is plugged into the connecting end of the binocular camera (34).

8. The adjustable baseline binocular vision device according to claim 7, characterized in that, The wire harness constraint assembly (5) includes a sliding shaft (51) that slides through two side plates (13) and is fixedly connected through a linkage sleeve plate (28). Two L-shaped plates (52) are fixedly sleeved on the outside of the sliding shaft (51). A clamping plate (53) fixedly installed on the rear side of the top of the base plate (11) is provided on the left side of any one of the L-shaped plates (52).

9. The adjustable baseline binocular vision device according to claim 8, characterized in that, The clamping plate (53) has a receiving groove (54) in the middle of its back side. A support plate (55) integrally formed with the L-shaped plate (52) is slidably arranged on the inner side of the receiving groove (54) in the horizontal direction. The L-shaped plate (52) and the adjacent clamping plate (53) have clamping grooves (56) on their top sides that are close to each other. The L-shaped plate (52) and the clamping plate (53) clamp the middle of the adjacent connecting wires (35) through the two clamping grooves (56).

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