Method and device for robot to autonomously calibrate tool center point

The invention discloses a method and device for a robot to autonomously calibrate a tool center point, and the method comprises the steps: obtaining a plurality of groups of images shot by a visual sensor, the plurality of groups of images being obtained by the visual sensor through the shooting of tools with different poses under different configurations of the robot; preset feature points of the tool are recognized from the images corresponding to the different configurations, multiple sets of feature point data corresponding to the different configurations are output, and the feature points comprise a tool center point; and on the basis of the multiple groups of feature point data corresponding to different configurations and the corresponding pose data of the multiple groups of tool mounting positions in the world coordinate system, the pose data of the tool center point in the tool mounting position coordinate system are calibrated. According to the invention, the pose or track of the tool installation p