Laser profile sensor eye-in-hand calibration method based on stepped calibration object

The invention provides a stepped calibration object and a laser profile sensor eye-in-hand calibration method (eye-in-hand mode) based on the stepped calibration object, and relates to a laser profile sensor eye-in-hand calibration technology. The stepped calibration object used in the method has obvious features which are easily detected and extracted by a sensor. Each time of calibration only comprises the steps of aligning mark points on the stepped calibration object, extracting the angular points of each step, fitting out a straight line based on the angular points by using an RANSAC method, using the straight line to collect feature point data scanned by a laser profile sensor, constructing a hand-eye matrix equation according to the coordinates of the points under a robot base coordinate system, and using the data to solve the hand-eye matrix equation. The method is easy to operate, and a high-precision calibration result can be obtained only by scanning the calibration object once. 本发明提出了一种阶梯型标定物和基于阶梯