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针对管道工程探伤及内防腐补口的要求设计了视觉传感器，分析了成象机理与参数的配合关系，给出了数字图象信号与机器人位置的关系式及系统误差的补偿算法．实验结果证明该方法是有效的．
The visual sensor is designed according to the requirements of pipeline engineering inspection and internal anticorrosive splicing. The relationship between imaging mechanism and parameters is analyzed. The relation between the digital image signal and robot position and the compensation algorithm of system error are given. Experimental results show that the method is effective.