Vision real-time measuring method based on color code block

The invention discloses a vision real-time measuring method based on a color code block, comprising the following steps of: S1, arranging a color code block with a given size above the back of a robot; S2, collecting a color code image of the color code block by using a single camera; S3, tracking the central point, the middle point of a long side and the middle point of a short side of the color code block to determine the region of a color code block image; S4, scanning and processing a color code image according to the set interval and direction to obtain an edge point with sub-pixel precision; S5, carrying out least square fitting on the edge point with sub-pixel precision of the color code block to obtain four edge straight lines; S6, solving points of intersections of the four edge straight lines to obtain image coordinates of four vertexes; S7, calculating a new central point, the middle point of a new long side and the middle point of a new short side of the color code block; S8, solving the pose of the robot by utilizing an n-point perspective algorithm; and S9, optimizing the pose of the robot by utilizing an orthogonal iteration algorithm to obtain the pose with orthogonal pose matrixes of the robot.