Calibration method for geometric center positions of camera and robot based on external identification

The invention discloses a calibration method for geometric center positions of a camera and a robot based on an external identifier, and the method comprises the steps: firstly keeping the robot still, enabling the camera to move in a positive direction or a negative direction of an x axis or a y axis of a robot coordinate system, recording n position points passed by the camera in a moving process, and solving an optimal direction vector according to the n position points; installing a camera on the robot, and positioning the camera for multiple times to obtain k positioning points; obtainingthe position of the camera; then controlling the robot to perform pivot steering motion, and recording m points passed by the camera at the same time; solving the optimal real geometric center of therobot through the m points; and finally, obtaining the position coordinates of the camera in the robot coordinate system according to the obtained optimal direction vector camera position and the real geometric center of the