Kinematics-free hand-eye calibration method and system

A kinematics-free hand-eye calibration system, comprising:

• a platform building unit, used for building a hand-eye calibration platform with eyes outside a hand based on a five-axis motion platform;
• a translation motion unit, used for controlling one of translation axes of the five-axis motion platform to perform a single-axis point location motion, wherein the translation axes of the controlled five-axis motion platform comprising an X-axis, a Y-axis and a Z-axis;
• a first point collecting unit, used for collecting a first spatial coordinate of a calibration plate in a process of controlling the five-axis motion platform to perform the single-axis point location motion by a camera;
• a first fitting unit, used for fitting all the first spatial coordinates into a spatial straight line after the collected first spatial coordinate reaching a first preset number;
• a first distance judging unit, used for judging whether distances of all the first spatial coordinates deviating from the spatial straight line being within a first maximum deviation distance range, if so, obtaining a unit direction vector of the spatial straight line according to a spatial straight line equation, if not, eliminating the first spatial coordinate with the largest deviation distance and returning to perform the first fitting unit;
• a translation shaft judging unit, used for judging whether the single-axis point location motion of all translation axes of the five-axis motion platform having been completed, if not, controlling the five-axis motion platform to perform the single-axis point location motion on the next translation axis, and returning to perform the first point collecting unit, if so, executing an orthogonalization unit;
• the orthogonalization unit, used for carrying out Schmidt orthogonalization on the unit direction vectors of the spatial straight lines of the X-axis, the Y-axis and the Z-axis to obtain a pose relationship matrix combined by the orthogonalized direction vectors;
• a resetting unit, used for controlling the five-axis motion platform to reset;
• a second point collecting unit, used for deflecting an A-axis of the five-axis motion platform at a preset angle, deflecting a C-axis of the five-axis motion platform for a plurality of times, and recording a second spatial coordinate of the corresponding calibration plate when deflecting the C-axis each time;
• a second fitting unit, used for fitting all the second spatial coordinates into a spatial spherical surface after the collected second spatial coordinates reaching a second preset number;
• a second distance judging unit, used for judging whether distances of all the second spatial coordinates deviating from the spatial spherical surface being within a second maximum deviation distance range, if so, calculating a spherical center coordinate of the spatial spherical surface to obtain a position relationship matrix, if not, eliminating the second spatial coordinate with the largest deviation distance and returning to perform the second fitting unit;
• and
• a calibration unit, used for obtaining a hand-eye relationship matrix according to the pose relationship matrix and the position relationship matrix.