Aiming at problem that position-based visual servo control of industrial robots needs to acquire position and pose information of object

a simple detection method is proposed.The image captured by camera is transformed from RGB space to HSV space

and the region where the object is located is separated by the feature that the HSV information of the object and the background is significantly different.Edge detection is carried out in this region

and feature edges and feature points of the target are selected according to the results of Hough transform and some prior knowledge.Internal and external parameters of camerain is obtained in advance.With these parameters

the pixel coordinates of the feature points are transformed into user coordinates

and then the position and pose information of the object in user coordinates is obtained step by step.Taking the detection of square objects as an example

a number of experiments are carried out.The results show that the single detection time is about 0.4 s

and the average error of detection is less than 2 mm.