提出了一种微小爬壁机器人三维位置测量的新方法。笔者通过深入分析研究各种位置测控方法与系统 ,提出采用单目视觉方法中的聚焦法 ,以CCD作为传感器 ,用三点法实现对机器人的三维位置测量。验证性实验结果表明 ,本研究提出的测量原理和系统是正确可行的。 A new method to measure the three-dimensional position of a small climbing robot is proposed. Through in-depth analysis and study of various location measurement and control methods and systems, the author proposes to use the focus method in monocular vision method and CCD as a sensor to realize the three-dimensional position measurement of a robot by a three-point method. The results of the confirmatory experiments show that the measurement principle and system proposed in this study are correct and feasible.