Calibration method, calibration device, computer equipment and computer readable storage medium

The invention discloses a calibration method, a calibration device, computer equipment and a nonvolatile readable storage medium, and the method comprises the steps: collecting first calibration information of the calibration device through a camera when a manipulator is in each first calibration attitude, and the calibration device is arranged on the manipulator; determining an initial pose conversion relation between the camera and the manipulator according to the first calibration information and the first calibration pose; according to the conversion relation between the second calibration posture and the initial posture, a third calibration posture is determined, and the second calibration posture is the posture of the manipulator under the camera coordinate system; acquiring second calibration information of the calibration device through the camera under the condition that the manipulator is in each third calibration posture; and according to the second calibration information and the third calibration