In the process of visually guiding robot to complete grasping, the most important step is handeye calibration. The accuracy of handeye calibration will directly affect the accuracy of subsequent work. Fully considering the effects of camera distortion on the calibration of the opponent’〖KG-*2〗s eyes,in Halcon environment, a highprecision fixedview handeye calibration method was designed.In this method, the relationship between the robot’〖KG-*2〗s basic coordinate system and the camera image coordinate system was determined while the internal and external parameters of the camera were also calibrated. It was verified by experiments.The results show that the calibration method has high accuracy and can be widely used in the positioning and grabbing work of visual robots.