说明：  经典手眼标定方案设计，每组手眼运动需要固定棋盘格是我位置，每次手眼运行前后需要标定相机外参。需要机器人控制上能够直接读取工具中心点的位姿。
(Classic hand-eye calibration scheme design, each group of hand-eye movement needs to fix the checkerboard is my position, and each time the hand-eye operation needs to calibrate the camera external parameters. The robot control can directly read the position and posture of the tool center point.)