The invention discloses a 
robot camera calibration method based on edge scale adaptive defocusing fuzzy 
estimation, which comprises the following steps: firstly, acquiring a 
checkerboard picture by using a camera to be calibrated, and carrying out Canny 
edge detection and 
corner detection on the acquired 
checkerboard picture; secondly, constructing an edge graph with a consistent scale according to a Canny 
edge detection value; then, setting a 
local scale value of 
edge detection while setting blurring values of two-time re-blurring images; carrying out 
gaussian blur on the 
checkerboard image again, and solving the gradient ratio of the two re-blurred images; then, calculating the defocusing fuzzy quantity of each corner point of the checkerboard original picture; drawing a circle by taking the detected 
angular point as a circle center and the defocusing fuzzy quantity as a 
radius, and setting a weight of a camera calibration 
energy equation; and finally, according to the optimized camera calibration 
energy equation, performing iteration on the 
energy equation in the obtained circle range until convergence, and outputting an optimal camera calibration parameter, so that the camera calibration precision can be greatly improved.