Automatic TCP calibration and deviation correction method based on cross laser sensor

The invention relates to the field of robot calibration and deviation rectification, and discloses an automatic TCP calibration and deviation rectification method based on a cross laser sensor, which comprises an automatic TCP calibration method and a TCP deviation rectification method based on the automatic TCP calibration method, and the automatic TCP calibration method based on the cross laser sensor uses the cross laser sensor to replace manual teaching point alignment operation. Automatic point alignment calibration is achieved, errors caused by manual operation are reduced, the point alignment time of the manual operation is shortened, the TCP calibration precision is improved, under the condition that the position of a robot sensor and the position of a cross laser sensor are not changed, rapid TCP deviation correction operation can be conducted on an end tool of a robot, the downtime is shortened, and the working efficiency is improved. Production of the production line is recovered with the minimum d