In order to improve the lack of three-dimensional positioning of the condenser nozzle in the existing large-scale condenser cleaning device, and facilitate the operator to remotely monitor the cleaning effect, a condenser cleaning robot vision system was designed. Using parallel binocular vision structure model, through the condenser nozzle contour recognition and stereo matching based on the full multi-grid algorithm, the nozzle three-dimensional positioning and surface reconstruction were realized. The experimental results show that by using the system, the three-dimensional coordinates of each condenser nozzle can be effectively calculated; compared with the traditional method, the three-dimensional reconstruction effect of the tube sheet surface is good, which can meet the visualization requirements of the condenser.