Hand-eye calibration method and system

The invention provides a hand-eye calibration method and system, and the method comprises the steps: obtaining initial data, and obtaining a first data set and a second data set after a robot is rotated or translated; performing hand-eye calibration; obtaining initial values of a hand-eye matrix and a calibration plate mounting posture through the first data set and the initial state data, and optimizing the hand-eye matrix and the calibration plate mounting posture through the first data set and the second data set; and calculating compensation data of the robot at any node of the second data set, setting different weight values according to the distance between each node in the node information and the target position, performing weight matching on the compensation data of different nodes, and fitting and estimating an actual compensation value at the target position by adopting a moving least square method. The problem that the hand-eye matrix precision of each area of the working interval is greatly diffe