Visual sensor calibration method and device

The invention discloses a visual sensor calibration method, which comprises the following steps of: 1, acquiring the surface of a workpiece through two cameras, recording image information of the workpiece by an image sensor, and performing a series of sampling processes; 2, calibrating the camera, and defining the following coordinate systems: a world coordinate system, a camera coordinate system and a computer image coordinate system; according to the visual sensor calibration method and device, the visual sensor calibration method is designed by using a binocular imaging principle and a three-point actual imaging point principle on the basis of a basic principle of geometric measurement of a visual sensor, so that external parameter calibration of a camera is realized, and internal parameter calibration of the camera is also realized; the influence of geometric distortion in a camera model on the precision of parameters in the camera is fully considered, so that the calibration precision of the visual sens