The invention relates to a calibration method for a line-
structured light sensor based on mechanical movement and a device. The device comprises a camera, a
laser, a calibration plane and a movement mechanism. The method comprises the steps that 1) a z-axis of a world coordinate
system taking the calibration plane as the ground acts as the vertical direction, an intrinsic parameter A of the camera and an extrinsic parameter of a first
checkerboard are acquired by using Zhengyou Zhang
checkerboard calibration, and included
angle alpha between a z-axis of a camera coordinate
system and the vertical direction is acquired by using the extrinsic parameter; 2) the distance between corresponding points on adjacent
laser stripes and corresponding image point coordinates are calculated; 3) a normal vector of a
structured light plane is solved; and 4) an included angle theta between the
structured light plane and the vertical direction is calculated according to the normal vector acquired in the step 3) and the included
angle alpha between the z-axis of the camera coordinate
system and the vertical direction, and the coordinates of a point on the structured light plane in the camera coordinate system are further acquired so as to complete calibration for a structured light
plane equation.