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Visual calibration is an important research direction in the field of robot vision control, and is also one of the current research hotspots. In this paper, the principle of software calibration is described in detail, and a software calibration method based on Halcon optimization is studied and designed. By using the operator in the function library, the internal and external parameters of the camera are calibrated. The influence of the terminal center of the robot and the radial distortion of the camera lens is fully considered. The method is used to establish the camera. The relationship between the image coordinated system and the robot world coordinated system. Experiments show that the method has high calibration accuracy and practicability, and is suitable for industrial robot vision system calibration. Keywords—Halcon, machine vision, industrial robot, vision calibration

A Vision Calibration Method of Robot based on Halcon