Realization of hand-eye calibration in hole pin alignment system

In the hole and pin alignment system, it is necessary to align the pin hole with the cylinder filling hole to complete the filling work of the pin. In this experiment, a camera is placed above the pin hole to shoot the opposite side of the loading hole, and the pose relationship between the loading hole and the camera can be solved. In order to finally get the pose relationship between the filling hole and the lower pin hole, the pose relationship between the camera and the pin hole needs to be obtained. The eye-hand calibration method based on the robotic arm is commonly used to calibrate the pose relationship between the two, but the hand-eye calibration method cannot be completed by the robotic arm in this experimental environment. Therefore, this paper proposed a monocular vision system hand-eye calibration method to replace the traditional method. In this method, the calibration process is divided into two steps: calibration plate pose calibration and hand-eye relationship calibration, and the hand-eye calibration relationship can be calculated by controlling several translation and rotation movements between the base camera and the calibration plate.