插件作业 (parts mating)是装配机器人的一项基本作业环节 .本文介绍了以双目立体视觉实现该作业的视觉导引方法 .该方法通过采用人机交互方式 ,借助于人的智慧 ,提高了图像特征提取和匹配的准确性和可靠性、可直观准确地给出插件作业的动作参数 ,克服了自动视觉计算复杂、鲁棒性差的缺点 ,适用于机器人遥操作作业 .实验表明 ,基于人机交互的机器人插件作业在立体视觉导引下是完全可行的 Component mating is a basic operation of assembly robot.This paper introduces a visual guidance method of binocular stereo vision to realize the job.The method uses human-computer interaction to improve human intelligence The accuracy and reliability of image feature extraction and matching can be directly and accurately given the operation parameters of the plug-in operation, to overcome the shortcomings of the complex automatic visual calculation, poor robustness, suitable for robotic teleoperation operation.Experiments show that, Interactive robotic plug-in homework under the guidance of stereoscopic vision is entirely feasible