Automatic hand-eye calibration method and system for mechanical arm, and terminal

The invention provides an automatic hand-eye calibration method and system for a mechanical arm, and a terminal. The automatic hand-eye calibration method comprises the following steps: S1, setting an attitude boundary point required by data acquisition, and setting a distance range from the center of a camera to a calibration plate and an angle range from the optical axis of the camera to the normal of the calibration plate; S2, according to the initial position of the mechanical arm, finely adjusting an attitude under the condition of guaranteeing that the calibration plate is in a visual field, and acquiring a small number of data points for estimating the initial position of the calibration plate; S3, uniformly sampling a preset number of sampling points in the range set in S1, wherein the sampling points are attitude positions of the camera under the coordinate system of the calibration plate; and S4, controlling the mechanical arm to pass through the sampling points in the S3 one by one, meanwhile, cont