采用新型特殊设计的光学传输部件，将外部照明光源导入待测管道内部，同时将管道内壁图像导出，突破了传感器内置的传统工作模式，实现了测量传感器外置，满足了微细管道管内空间狭小的应用需求。同时，结合工业机器人运动平台，进一步构建了柔性在线测量系统，满足了不同工件中不同位姿分布的微细管道柔性测量需要。根据应用要求，首先在前期研究工作分析的基础上，完善了测量系统方案设计; 对系统工作流程及核心问题进行了分析，并针对系统构建中的对准问题进行了重点研究，提出了一种新颖、合理的对准方法; 基于构建的测量系统，针对10 mm孔径管道内壁上0.6 mm、1.0 mm和2.0 mm的模拟圆孔缺陷进行了测量实验。实验结果表明，三种缺陷测量结果的标准差均小于0.01 mm，可以实现微细管道内壁缺陷的柔性、在线测量。

To fulfill the need of measurement on the small bore′s interior features, a specially designed optical transmission component was adopted to divert exterior illumination into the interior of small bores and to export the interior image. This study surpassed the traditional mode and achieved the exterior placement of the measurement sensors to make it possible for the measurement in narrow space. To fulfill the need of measurement on small bores in different position and direction, a new flexible in-line measurement system was set up utilizing the movement platform of industrial robots. Firstly, the design of the measurement system was proposed based on analysis of preliminary method, and the flow of the work was given. Then, the question of alignment between sensor and sample was analyzed in detail, and a novel, reasonable method of aligning was given. Based on the system, the measuring experiment was carried out on 0.6 mm, 1.0 mm and 2.0 mm simulated defect points on interior wall of 10 mm diameter bore, the standard deviation is all less than 0.01 mm. The experimental result shows that the system is valid and able to accomplish the feasible, on-line measurement.