On-site and real-time calibration method of pose relation of industrial robot and three-dimensional imager

The invention discloses an on-site and real-time calibration method of the pose relation of an industrial robot and a three-dimensional imager. The method comprises the following steps that: step 1) arobot is driven to pass a translational imager with a fixed pose when being located at different positions under a condition that the rotation parameters of a flange coordinate system remain unchanged, so that the same point of a calibration plate can be scanned a plurality of times, and therefore, first point cloud data can be formed, and the rotation and translation parameters of the flange coordinate system are recorded; step 2) the first point cloud data of the imager are processed, a corresponding center coordinate is obtained through a fitting mode, and calibration rotation parameters are calculated; step 3) the robot scans the same target point a plurality of times with different poses when being located at different positions, so that second point cloud data can be formed, and therotation and translation