The invention relates to a hand-eye
system self-calibration method based on active visual sense, and belongs to the
robot calibration technical field; the realization steps comprise the following steps: 1, building a coordinate transition relation between all reference coordinate systems in a camera imaging
system; 2, building a coordinate transition relation between all reference coordinate systems in a hand-eye
system; 3, building a coordinate transition relation between a CCD imaging plane and a world coordinate system in the hand-eye system; 4, controlling a camera in the hand-eye system to make the first
translational motion; 5, controlling the camera in the hand-eye system to continuously make the second non-linear
translational motion; 6, linear-solving a hand-eye relation rotate matrix in the hand-eye system; 7, controlling the camera to make the first non-linear
translational motion; 8, linear-solving a camera inner reference matrix in the hand-eye system; 9, linear-solving a characteristic points object depth; 10, controlling the camera in the hand-eye system to make the first real rotary movement; 11, controlling the camera to make the first virtual rotation; 12, calibrating a hand-eye relation translation vector.