Aiming at the problem of detection and positioning of reference plane obstacles, an embedded image detection system using angle intersection method to measure two-dimensional coordinates was designed. The two-line method was adopted to calibrate the linear array CCD image sensor by two-dimensional coordinate measurement system, and the angle intersection method was used to calculate the coordinates of the measured object, so that the uncorrected two-dimensional coordinate measurement results were obtained. The control variable method was used to measure the coordinates of X axis and Y axis, respectively, the Matlab software was used to process the data, and the polynomial linear fitting of the measurement errors of X axis and Y axis was carried out respectively to obtain the coordinate correction formula, in which the corrected two-dimensional coordinate errors became significantly smaller. The experimental results show that the two-dimensional coordinate image measurement system based on angle intersection can measure two-dimensional coordinates in real time, accurately, quickly and reliably, and provides a feasible scheme for two-dimensional coordinate measurement of reference plane obstacles, which has certain application values and significance.