The invention provides a TOF camera calibration method for an automated guided vehicle, the automated guided vehicle is provided with a vehicle body, a gear shaping arranged on the vehicle body, a TOFcamera and a baffle arranged on the gear shaping, and the method comprises the following steps: performing image acquisition through the TOF camera to obtain point cloud data of an image; carrying out segmentation processing on the point cloud data to obtain point clouds of a baffle plane, the ground and a gear shaping plane; obtaining a plane equation of the baffle plane, the ground and the gearshaping plane according to the point clouds of the baffle plane, the ground and the gear shaping plane; and obtaining a coordinate transformation relationship between a gear shaping coordinate systemand a TOF camera coordinate system by utilizing the plane equation of the baffle plane, the ground and the gear shaping plane. According to the embodiment of the invention, the relative position change relationship between the gear shaping of the automatic guided vehicle and the camera can be obtained, the operation is simple, and the method is suitable for various complex environments such as factory carrying workshops. The method is of great significance to the automated guided vehicle to accurately and efficiently complete a carrying task.