在视觉检测方法的基础上,构造了一种便于几何测量的视觉传感器,给出了该视觉传感器的测量原理,并设计了该视觉传感器的标定方法,该方法利用空间中三个有特殊关系点的对应成像点,直接列写出方程组,求解出摄像机的内参数。内参数标定模型中考虑了几何畸变。 Based on the visual inspection method, a visual sensor is designed to facilitate the geometric measurement. The measurement principle of the visual sensor is given and the calibration method of the visual sensor is designed. The method uses three special points Of the corresponding imaging point, a direct column out equations, solved the camera’s internal parameters. Geometric distortion is taken into account in the internal parameter calibration model.