Forward intersection method and system for vision measurement of robots with three or more degrees of freedom

The invention provides a forward intersection method and system for vision measurement of a robot with three or more degrees of freedom, and the method comprises the steps: expressing an image point of a to-be-measured point and coordinates of intersection points in a measurement coordinate system which is established according to the structure parameters of the robot vision measurement system with three or more degrees of freedom, and carrying out the forward intersection measurement of the to-be-measured point, obtaining a coordinate value of the point to be measured in the measurement coordinate system; constructing an attitude coordinate system transformation matrix of the carrier from a preset position to an actual position; the structure parameters comprise camera internal parameters of the visual sensor, attitude parameters and arm lengths of all independent moving parts in the carrier, a first intersection distance and a first main optical axis rotation radius and/or a second intersection distance and