Method and apparatus for calibrating crankshaft to be processed

An apparatus for calibrating a crankshaft to be processed, the apparatus comprising:

• a probe arranged on a robot;
• a positioner configured to support the crankshaft and drive the crankshaft to rotate;
• and
• a controller configured to:
• cause the positioner to rotate to at least three different angles;
• cause, for each of the at least three different angles, the probe to touch a plurality of points on a first cylindrical crankpin of the crankshaft respectively to obtain coordinates of the plurality of points in a robot coordinate system;
• fit, for each of the at least three different angles, the coordinates of the plurality of points on the first cylindrical crankpin respectively to obtain a respective pose of the first cylindrical crankpin relative to the robot coordinate system;
• and
• determine a pose of a rotating axis of the crankshaft relative to the robot coordinate system based on the respective pose of the first cylindrical crankpin.