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介绍一种用于管内防腐喷涂作业的视觉机器人控制系统。该系统采用二级计算机控制，实现了基于视觉的位置与速度控制，从而有效地解决了管内作业的准确性问题。
A visual robot control system for anticorrosive spraying in pipe is introduced. The system uses two computer control, based on the visual position and speed control, thus effectively solve the problem of the accuracy of the pipework.