CN111307033B - Industrial robot depth vision sensor calibration board and calibration method - Google Patents
Industrial robot depth vision sensor calibration board and calibration method Download PDFInfo
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- CN111307033B CN111307033B CN201811520955.4A CN201811520955A CN111307033B CN 111307033 B CN111307033 B CN 111307033B CN 201811520955 A CN201811520955 A CN 201811520955A CN 111307033 B CN111307033 B CN 111307033B
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- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention provides a calibration plate and a calibration method for an industrial robot depth vision sensor, and relates to the field of intelligent industrial robots, wherein the calibration plate comprises a plurality of mounting holes, a calibration plate coordinate system X-direction reference point, a calibration plate coordinate system Y-direction reference point, an initial position outer hole 1, an initial position outer hole 2, a calibration plate coordinate system origin, an initial position inner hole 1, an initial position inner hole 2, a trapezoidal groove and a triangular groove, the initial position outer hole 1, the initial position outer hole 2, the initial position inner hole 1 and the initial position inner hole 2 are on the same straight line, the straight line is an initial straight line, and two intersection points of the initial straight line and the upper edge of the trapezoidal groove are the reference point 1 and the reference point 2. The method quickly calibrates the depth vision sensor by the calibration plate with the machining precision controlled within +/-0.01 mm, the structure is simple, the manufacturing cost is low, the method has high universality, and the method can be suitable for calibrating the depth vision sensor of a plurality of industrial robots.
Description
Technical Field
The invention relates to the field of intelligent industrial robots, in particular to a calibration plate and a calibration method for an industrial robot depth vision sensor.
Background
At present, research on the calibration problem of sensors of industrial robots has made great progress, but the calibration problem is mainly used for solving the calibration problem between industrial robots and industrial cameras and 3D scanners. Aiming at the problem of TCP calibration of an industrial robot end effector clamping sensor, a closed-loop kinematic chain equation of the industrial robot under specific geometric constraints (points, lines and surfaces) is mainly solved, and the method specifically comprises the following four methods:
the method comprises the following steps: and measuring the same point under the condition of changing the position and the posture of the industrial robot for many times, and solving a homogeneous transformation matrix between the terminal coordinate system of the industrial robot and the sensor coordinate system by utilizing a kinematic equation and a least square method. The method is difficult to ensure that each measuring point is on the same point, and the calibration result has larger influence on the calibration environment and the calibration operation.
The second method comprises the following steps: the calibration method based on the plane template is adopted, the industrial robot measures the plane template at different positions and postures, and the least square method is utilized to fit the plane to solve the calibration problem. The method can quickly calibrate the result, but the parameter distribution has a large influence on the calibration result, so the calibration precision is greatly influenced by the calibration operation.
The third method comprises the following steps: the method based on spherical surface fitting is adopted, the industrial robot measures the spherical surface at different positions and postures, and the least square method is utilized to fit the spherical surface to solve the calibration problem. The method has high calibration precision, but needs an industrial robot servo control system to assist in calibrating the direction parameters of the sensor, and has no universality.
The method four comprises the following steps: the method is high in calibration precision, but direction and position parameters of a sensor need to be calibrated respectively in the calibration process, the calibration process is complicated, an auxiliary calibration object or a compact auxiliary measurement device is needed, the calibration cost is high, and in the calibration process of the sensor, the measurement attitude and the measurement condition of the industrial robot have great influence on the calibration result.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a calibration plate for a depth vision sensor of an industrial robot and a calibration method thereof, in which a depth vision sensor is calibrated quickly by using a calibration plate with a machining precision controlled within ± 0.01mm, a simple structure and a low manufacturing cost, and the method has high versatility and is suitable for calibrating a plurality of depth vision sensors of industrial robots.
The invention provides a calibration plate of a depth vision sensor of an industrial robot, which comprises a plurality of mounting holes, a calibration plate coordinate system X-direction reference point, a calibration plate coordinate system Y-direction reference point, an initial position outer hole 1, an initial position outer hole 2, a calibration plate coordinate system origin, an initial position inner hole 1, an initial position inner hole 2, a trapezoidal groove and a triangular groove, wherein the initial position outer hole 1, the initial position outer hole 2, the initial position inner hole 1 and the initial position inner hole 2 are on the same straight line, the straight line is an initial straight line, and two intersection points of the initial straight line and the upper edge of the trapezoidal groove are the reference point 1 and the reference point 2.
A method for calibrating an industrial robot depth vision sensor comprises the following steps:
step 1: establishing an industrial robot BASE coordinate system by using a calibration plate coordinate system origin, a calibration plate coordinate system X-direction reference point and a calibration plate coordinate system Y-direction reference point, and recording the actual groove depth H and the actual groove width W of a trapezoidal groove of a calibration plate, the actual opening width K of a triangular groove and a Y-axis coordinate Y1 of the vertex of the triangular groove;
step 2: irradiating the structured light emitted by the depth vision sensor onto an initial straight line, enabling the left end of the structured light to be located between an initial position outer hole 1 and an initial position inner hole 1, enabling the right end of the structured light to be located between an initial position outer hole 2 and an initial position inner hole 2, enabling a structured light emitting plane to be perpendicular to the upper plane of the calibration plate, carrying out first measurement, and measuring an included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h and the groove width w of the trapezoidal groove, and coordinates (x, y and z) of an inflection point 1 or an inflection point 2 of the trapezoidal groove;
and step 3: adjusting the posture of the industrial robot to enable the included angles between the Z direction of the depth vision sensor and the plane of the calibration plate to be 45 degrees and 135 degrees respectively, enabling the structural light emission plane to be perpendicular to the plane of the calibration plate, carrying out second measurement and third measurement, and measuring the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoid groove and the groove width w;
and 4, step 4: adjusting the posture of the industrial robot to enable the included angles of the structural light and the initial straight line to be 45 degrees and 135 degrees respectively, performing fourth measurement and fifth measurement, and measuring the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoidal groove and the groove width w;
and 5: adjusting the posture of the industrial robot to enable the structured light to be parallel to the initial straight line, enabling included angles between a structured light emitting plane and the upper plane of the calibration plate to be 45 degrees and 135 degrees respectively, carrying out sixth measurement and seventh measurement, and measuring an included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoid groove and the groove width w;
step 6: adjusting the posture of the industrial robot to enable the structured light and the initial straight line to be parallel, respectively moving a set value along the Y direction of the BASE coordinate system of the industrial robot to enable the structured light to move to a triangular groove area of the calibration plate, carrying out eighth measurement and ninth measurement, and measuring the opening width k of the triangular groove;
and 7: calculating the included angle b, the groove depth h of the trapezoidal groove and the average values b0, h0 and w0 of the groove width w, and calculating a parameter A, B, C, X, Y, Z of the depth vision sensor coordinate system under a robot BASE coordinate system, wherein the calculation formula is as follows:
A＝arccot(W/w0)；
B＝b0；
C＝arccot(H/h0)；
X＝xx-((cos(A)*cos(B)*x)+((cos(A)*sin(B)*sin(C)-sin(A)*cos(C))*y)+((cos(A)*sin(B)*cos(C)+sin(A)*sin(C))*z))；
Y＝yy-((sin(A)*cos(B)*x)+((sin(A)*sin(B)*sin(C)+cos(A)*cos(C))*y)+((sin(A)*sin(B)*cos(C)-cos(A)*sin(C))*z))；
Z＝(-1)*(((-sin(B))*x)+(cos(B)*sin(C)*y)+(cos(B)*cos(C)*z))。
further, X, Y, Z denotes a position, A, B, C denotes a posture, a denotes an angle of rotation about a Z axis, B denotes an angle of rotation about a Y axis, and C denotes an angle of rotation about an X axis.
As described above, the calibration plate and the calibration method for the depth vision sensor of the industrial robot have the following beneficial effects:
1. in the invention, the calibration method adopts a layer-by-layer progressive mode to gradually improve the calibration precision, so that the requirement on the operation precision of the industrial robot is lower, and the calibration of the depth vision sensor can be completed without any high-precision measuring equipment.
2. According to the invention, after the first measurement, the depth vision sensor is preliminarily calibrated, and the subsequent attitude adjustment of the industrial robot can be obtained by calculation based on the calibration result without manual teaching.
3. In the invention, the calibration plate has simple structure, does not have complex curved surface or spherical surface, can meet the requirement by common machining precision, and reduces the calibration cost.
4. In the invention, the calibration precision can be continuously increased by repeatedly measuring for many times, and the measurement times can be reduced to accelerate the measurement speed, so that the method can be simultaneously suitable for scenes with high-speed low-precision requirements and low-speed high-precision requirements.
Drawings
Fig. 1 is a schematic structural diagram of an industrial robot trajectory generation system disclosed in an embodiment of the invention;
FIG. 2 is a schematic view of a depth vision sensor mounting structure disclosed in an embodiment of the present invention;
FIG. 3 is a dimensional view of a mounting plate configuration disclosed in an embodiment of the present invention;
FIG. 4 is a schematic view of a mounting plate structure disclosed in an embodiment of the present invention;
FIG. 5 is a schematic illustration of a first measurement disclosed in an embodiment of the present invention;
FIG. 6 is a cross-sectional profile image of a dovetail groove as first measured in an embodiment of the present invention;
the labels in the figure are: 1 clamp block A, 2 clamp blocks B, 3 insulating opening sleeve A, 4 insulating opening sleeve B, 5 connecting plates, 6 depth vision sensors, 7-1 mounting holes, 7-2 calibration plate coordinate system origin, 7-3 calibration plate coordinate system X direction datum points, 7-4 trapezoidal grooves, 7-5 triangular grooves, 7-6 calibration plate coordinate system Y direction datum points, 7-7 initial position inner holes 2, 7-8 initial position outer holes 1, 7-9 initial position inner holes 1, 7-10 initial position outer holes 2, 7-11 initial straight lines, 7-12 datum points 1, 7-13 datum points 2, 8-1 structure light emission planes, 8-2 structure light, 9-1 inflection points 1, 9-2 inflection points 2.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In an industrial robot trajectory generation system, as shown in the figure, the trajectory generation system includes a depth vision sensor, an offline programming system, a trajectory generation instruction software package, and a trajectory generation controller, the robot controller includes a motion controller and a body driving unit, the depth vision sensor is fixed on a flange tool of an industrial robot body through a clamp, wherein, a plurality of industrial processing tools (such as cutting, clamping, welding, etc.) are arranged on the flange; the industrial robot body, the robot controller and the track production controller are in instruction transmission through the Ethernet.
As shown in fig. 2, the depth vision sensor is installed and fixed on a tubular or cylindrical industrial processing tool through a fixture, the fixture comprises an insulation opening sleeve a, an insulation opening sleeve B, a clamping block a, a clamping block B and a connecting plate, the insulation opening sleeve a and the insulation opening sleeve B are tightly combined, the clamping block a and the clamping block B are connected through a screw rod and used for clamping the insulation opening sleeve a and the insulation opening sleeve B, the connecting plate is installed on the fixture B, the depth vision sensor is arranged on the connecting plate through two angle adjusting bolts, and the installation angle of the depth vision sensor is adjusted through the angle adjusting bolts.
After the depth vision sensor is installed and fixed, the depth vision sensor needs to be calibrated for finding the relative relation between the flange coordinate system of the industrial robot and the depth vision sensor coordinate system, namely the position and the posture of the depth sensor under the flange coordinate system of the industrial robot.
As shown in fig. 3 and 4, the invention provides a calibration plate for a depth vision sensor of an industrial robot, which comprises a plurality of mounting holes, a calibration plate coordinate system X-direction reference point, a calibration plate coordinate system Y-direction reference point, a starting position outer hole 1, a starting position outer hole 2, a calibration plate coordinate system origin, a starting position inner hole 1, a starting position inner hole 2, a trapezoidal groove and a triangular groove, wherein the starting position outer hole 1, the starting position outer hole 2, the starting position inner hole 1 and the starting position inner hole 2 are on the same straight line, the straight line is a starting straight line, and two intersection points of the starting straight line and the upper edge of the trapezoidal groove are the reference point 1 and the reference point 2.
The invention provides a calibration method of an industrial robot depth vision sensor, which is realized based on a calibration plate and comprises the following steps:
step 1: fixing the calibration plate through six mounting holes, establishing an industrial robot BASE coordinate system by using an original point of a coordinate system of the calibration plate, a reference point in the X direction of the coordinate system of the calibration plate and a reference point in the Y direction of the coordinate system of the calibration plate, and recording the actual groove depth H and the actual groove width W of the trapezoidal groove of the calibration plate, the opening width K of the triangular groove and the Y-axis coordinate Y1 at the vertex of the triangular groove;
step 2: irradiating the structured light emitted by the depth vision sensor onto an initial straight line, enabling the left end of the structured light to be located between an initial position outer hole 1 and an initial position inner hole 1, enabling the right end of the structured light to be located between an initial position outer hole 2 and an initial position inner hole 2, enabling a structured light emitting plane to be perpendicular to the upper plane of the calibration plate, carrying out first measurement, and measuring an included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h and the groove width w of the trapezoidal groove, and coordinates (x, y and z) of an inflection point 1 or an inflection point 2 of the trapezoidal groove;
and step 3: adjusting the posture of the industrial robot to enable the included angles between the Z direction of the depth vision sensor and the plane of the calibration plate to be 45 degrees and 135 degrees respectively, enabling the structural light emission plane to be perpendicular to the plane of the calibration plate, carrying out second measurement and third measurement, and measuring the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoid groove and the groove width w;
wherein the depth vision sensor Z direction is arranged downwards perpendicular to the calibration plate.
And 4, step 4: adjusting the posture of the industrial robot to enable the included angles of the structural light and the initial straight line to be 45 degrees and 135 degrees respectively, performing fourth measurement and fifth measurement, and measuring the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoidal groove and the groove width w;
and 5: adjusting the posture of the industrial robot to enable the structured light to be parallel to the initial straight line, enabling included angles between a structured light emitting plane and the upper plane of the calibration plate to be 45 degrees and 135 degrees respectively, carrying out sixth measurement and seventh measurement, and measuring an included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoid groove and the groove width w;
step 6: adjusting the posture of the industrial robot to enable the structured light and the initial straight line to be parallel, respectively moving a set value along the Y direction of the BASE coordinate system of the industrial robot to enable the structured light to move to a triangular groove area of the calibration plate, carrying out eighth measurement and ninth measurement, and measuring the opening width k of the triangular groove;
assuming that the BASE coordinate system of the industrial robot is B, the position and the posture of the flange plate coordinate system of the industrial robot relative to the BASE coordinate system of the industrial robot are PBT, the current position and the attitude of the depth vision sensor under the BASE coordinate system of the industrial robot are SBT, according to the kinematic equation PST＝PBT(SBT)-1The calibration problem can therefore be reduced to an accurate calculation of the description of the depth vision sensor in the BASE coordinate system of the industrial robot at a certain moment.
The description of the depth vision sensor coordinate system under the robot BASE coordinate system is determined by six parameters X, Y, Z, A, B, C, X, Y, Z denotes position, A, B, C denotes attitude, a denotes angle of rotation about the Z axis, B denotes angle of rotation about the Y axis, and C denotes angle of rotation about the X axis.
At the first measurement, as shown in fig. 5, the structured light emitted by the depth vision sensor is illuminated on the initial straight line, and this measurement assumes: the structured light accurately passes through the reference point 1 and the reference point 2, namely the value of Y is assumed to be equal to the position of the reference point in the Y direction under the BASE coordinate system of the industrial robot; the structured light left end is located between initial position outer hole 1 and initial position hole 1, and the structured light right end is located between initial position outer hole 2 and initial position hole 2, can let the range of degree of depth vision light sense ware be in effective range. At this time, the cross-sectional profile image of the trapezoidal groove detected by the depth sensor is as shown in fig. 6, the position of the inflection point 1 or the inflection point 2 under the coordinate system of the depth vision sensor is measured, and the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoidal groove and the groove width w are measured.
According to the knowledge of triangle geometry, the average included angle B0 is equal to B, and A ═ arccot (W/W0) can be calculated through the measured average groove width W0 and the actual groove width W of the trapezoidal groove; c ═ arccot (H/H0) can be calculated from the measured average groove depth H0 and the actual trapezoidal groove depth H; x, Y, and Z can be determined by combining the position of the depth sensor at the inflection point 1 (or inflection point 2) and the position of the reference point 1 (or reference point 2) at BASE.
Let the coordinates of the inflection point 1 under the depth vision sensor coordinate system be (x, y, z) where y is 0. The coordinate of the reference point 1 in the calibration plate coordinate system is (xx, yy, zz), and then X is xx-X; Z-Z. Thus, the first measurement can initially yield X, Y, Z, A, B, C a set of depth vision sensor coordinates described in the robot BASE coordinate system.
X＝xx-((cos(A)*cos(B)*x)+((cos(A)*sin(B)*sin(C)-sin(A)*cos(C))*y)+((cos(A)*sin(B)*cos(C)+sin(A)*sin(C))*z))；
Y＝yy-((sin(A)*cos(B)*x)+((sin(A)*sin(B)*sin(C)+cos(A)*cos(C))*y)+((sin(A)*sin(B)*cos(C)-cos(A)*sin(C))*z))；
Z＝(-1)*(((-sin(B))*x)+(cos(B)*sin(C)*y)+(cos(B)*cos(C)*z))；
The second measurement and the third measurement can obtain a larger included angle b, and the calculation result can be more accurate by taking the average value of the multiple measurements.
The fourth measurement and the fifth measurement can obtain larger measurement groove width w, and the calculation result can be more accurate by averaging multiple measurements.
The sixth measurement and the seventh measurement can obtain larger measurement groove depth h, and the calculation result can be more accurate by averaging the measurements for multiple times.
The principles of the eighth and ninth measurements are as follows: after the X, Z, A, B, C value was accurately obtained, the Y value was calculated by scaling the triangle groove of the plate, which is cot (K/2) × (K/2) + Y1.
Wherein, K is 53 degrees, which is the actual opening width of the triangular groove; y1 is the coordinate of the apex Y axis of the triangular groove. Because the opening width K of the triangular groove is known in the Y direction of the BASE coordinate system of the industrial robot, the Y value of the coordinate system of the depth vision sensor can be accurately calculated by measuring the opening width K through the depth vision sensor, and the calculation result can be more accurate by measuring the average value for multiple times.
Particularly, after the first measurement, the first depth vision sensor is preliminarily calibrated, and the subsequent posture adjustment of the industrial robot can be obtained through calculation based on the calibration result without manual teaching, so that the workload and the error rate of manual teaching are reduced.
The depth vision sensor is a main hardware device for realizing a measuring function, the depth vision sensor can measure a profile image of a cross section where laser is located of a workpiece through a built-in laser generator array, a CMOS sensor array and a matched optical structure, a measuring result is composed of 640-1280 coordinate points, and each coordinate point independently describes the position of a measuring point under a depth vision sensor coordinate system, so that a set of the coordinate points forms a frame of profile image of the cross section;
in conclusion, the depth vision sensor is calibrated quickly by the aid of the calibration plate with the machining precision controlled within +/-0.01 mm, the structure is simple, the manufacturing cost is low, the method is high in universality, and the method can be suitable for calibrating the depth vision sensors of a plurality of industrial robots. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (2)
1. A calibration method for a depth vision sensor of an industrial robot is characterized by comprising the following steps:
step 1: establishing an industrial robot BASE coordinate system by using a calibration plate coordinate system origin, a calibration plate coordinate system X-direction reference point and a calibration plate coordinate system Y-direction reference point, and recording the actual groove depth H and the actual groove width W of a trapezoidal groove of a calibration plate, the actual opening width K of a triangular groove and a Y-axis coordinate Y1 of the vertex of the triangular groove;
step 2: irradiating the structured light emitted by the depth vision sensor onto an initial straight line, enabling the left end of the structured light to be located between an initial position outer hole 1 and an initial position inner hole 1, enabling the right end of the structured light to be located between an initial position outer hole 2 and an initial position inner hole 2, enabling a structured light emitting plane to be perpendicular to the upper plane of the calibration plate, carrying out first measurement, and measuring an included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h and the groove width w of the trapezoidal groove, and coordinates (x, y and z) of an inflection point 1 or an inflection point 2 of the trapezoidal groove;
and step 3: adjusting the posture of the industrial robot to enable the included angles between the Z direction of the depth vision sensor and the plane of the calibration plate to be 45 degrees and 135 degrees respectively, enabling the structural light emission plane to be perpendicular to the plane of the calibration plate, carrying out second measurement and third measurement, and measuring the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoid groove and the groove width w;
and 4, step 4: adjusting the posture of the industrial robot to enable the included angles of the structural light and the initial straight line to be 45 degrees and 135 degrees respectively, performing fourth measurement and fifth measurement, and measuring the included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoidal groove and the groove width w;
and 5: adjusting the posture of the industrial robot to enable the structured light to be parallel to the initial straight line, enabling included angles between a structured light emitting plane and the upper plane of the calibration plate to be 45 degrees and 135 degrees respectively, carrying out sixth measurement and seventh measurement, and measuring an included angle b between the upper surface of the calibration plate and the horizontal plane, the groove depth h of the trapezoid groove and the groove width w;
step 6: adjusting the posture of the industrial robot to enable the structured light and the initial straight line to be parallel, respectively moving a set value along the Y direction of the BASE coordinate system of the industrial robot to enable the structured light to move to a triangular groove area of the calibration plate, carrying out eighth measurement and ninth measurement, and measuring the opening width k of the triangular groove;
and 7: calculating the included angle b, the groove depth h of the trapezoidal groove and the average values b0, h0 and w0 of the groove width w, and calculating a parameter A, B, C, X, Y, Z of the depth vision sensor coordinate system under a robot BASE coordinate system, wherein the calculation formula is as follows:
A＝arccot(W/w0)；
B＝b0；
C＝arccot(H/h0)；
X＝xx-((cos(A)*cos(B)*x)+((cos(A)*sin(B)*sin(C)-sin(A)*cos(C))*y)+((cos(A)*sin(B)*cos(C)+sin(A)*sin(C))*z))；
Y＝yy-((sin(A)*cos(B)*x)+((sin(A)*sin(B)*sin(C)+cos(A)*cos(C))*y)+((sin(A)*sin(B)*cos(C)-cos(A)*sin(C))*z))；
Z＝(-1)*(((-sin(B))*x)+(cos(B)*sin(C)*y)+(cos(B)*cos(C)*z))；
where X, Y, Z denotes a position, A, B, C denotes a posture, a denotes an angle of rotation about the Z axis, B denotes an angle of rotation about the Y axis, and C denotes an angle of rotation about the X axis.
2. An industrial robot depth vision sensor calibration plate for performing the method of claim 1, characterized in that: the calibration plate comprises a plurality of mounting holes, calibration plate coordinate system X direction reference points, calibration plate coordinate system Y direction reference points, initial position outer hole 1, initial position outer hole 2, calibration plate coordinate system original point, initial position hole 1, initial position hole 2, dovetail groove and triangular groove, initial position outer hole 1, initial position outer hole 2, initial position hole 1 and initial position hole 2 are on same straight line, the straight line is initial straight line, two nodical points on edge are datum point 1 and datum point 2 on initial straight line and the dovetail groove.
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