在筒子纱染色的工业生产中，获取机械臂及纱杆锁扣的相对位置实现机械臂的精确定位和抓取目标是染色过程的关键技术。设计了基于单目视觉的机械臂目标定位及光学测量系统，通过单目光学成像的方式实时获取锁扣目标的图像，结合图像分析算法解算出目标空间位置以及目标与机械臂的相对位置。利用OPC通讯技术，将目标的空间位置信息传输给机械臂控制模块并控制机械臂的运动实现目标的抓取。通过现场实验，机械臂定位系统的定位误差在2mm范围内。

In the industrial production of cheese dyeing, obtaining the relative positions of the manipulator and the rod/lock-catch to achieve the precise manipulator positioning and grasping is the key technique. A monocular vision based manipulator target positioning and optical measurement system is designed, which can acquire the image of the lock-catch target through optical imaging and obtain the relative position between the target and the manipulator through the image analysis. Using OPC communication technology, the target's spatial position information is transmitted to the manipulator control module. Then it controls the movement of the manipulator and achieve the target grasping. Experimental result show that the error of the manipulator positioning system is within 2mm.