Calibration method, device and equipment

The invention provides a calibration method, device and equipment. The calibration method comprises the following steps: acquiring first object coordinates and second object coordinates of a preset number of position points of a first object and a second object in a first coordinate system; acquiring a first relationship between a second coordinate system and the first coordinate system according to the first object coordinate and the second object coordinate; acquiring a second relationship between the second coordinate system and the third coordinate system according to the first object coordinate and the second object coordinate; and obtaining a pose conversion relationship between the second object and the first object according to the first relationship and the second relationship. According to the method, the conversion relation between a laser welding seam sensor and a robot tool coordinate system can be completed only by means of the simple calibration workpiece, and the user experience is improved. 本