Binocular vision-based automatic calibration method and equipment for spatial position of internal module of instrument, and medium

The invention relates to an automatic calibration method for spatial positions of modules in an instrument based on binocular vision. The method comprises the following steps: acquiring positions of cameras mounted in different directions of the instrument; acquiring a selected standard substance; under the condition of the same imaging resolution, a large view field is adopted for coarse adjustment, and then the view field is reduced for fine adjustment; acquiring a set initial step length; controlling the mechanical arm to move according to the step length; image boundaries are identified, and the consistency of pixel positions is compared; judging whether the position deviation between the standard substance and the probe is smaller than a set error limit; if yes, acquiring the current position; otherwise, the step length is updated, and the step of controlling the mechanical arm to move according to the step length is skipped to. The method is applied to the calibration process of the three-dimensional me