Robot multi-station machining hand-eye calibration method guided by surface structured light

The invention discloses a surface structured light guided robot multi-station machining hand-eye calibration method which is used for carrying out hand-eye calibration on a multi-station surface structured light measurement system. Comprising the steps that a calibration station point is determined, and a robot end effector is calibrated; the double-ball calibration blocks are fixed, and spherical point cloud information of the calibration blocks in different postures and six-pose parameters of the flange plate are collected; preprocessing different point cloud data with the same pose to obtain point cloud data with higher precision; calculating the distance between the small balls under different poses; and registering adjacent point clouds according to a shooting sequence to obtain a small ball position transformation matrix under a calibration block point cloud camera coordinate system, further obtaining a pose transformation matrix of the robot flange plate under a base coordinate system according to the