并联机器人；监测平台；主动视觉；双目协调；视觉跟踪；运动检测。
Parallel Mechanism; Monitoring Platform; Active Vision; Binocular coordination; Visual Tracking; Motion Detection.
本文针对水轮机修复专用机器人视觉系统，采用基于三角测量原理的主动视觉法中的激光扫描法对水轮机转轮叶片缺陷进行检测。
The paper adopts laser scanning of the method of positive vision basing on the principle of triangle measure to detect the drawback of hydraulic turbine blade.
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