Overhead bare wires are not protected by an insulating sheath,which is prone to safety accidents.The use of coating robots to carry out bare wire insulation operations can reduce the threat to personal safety.In view of the deformation of the flexible cable caused by the movement of the coating robot in the flexible cable environment and the change of the target,a robot vision detection and positioning method was proposed for flexible wire coating operations.The camera at the end of the robotic arm was used to collect the marking position image of the coating robot to realize the detection and positioning of the coating flexible wire.Aiming at the phenomenon that the target would change with the deformation of the flexible cable in the flexible cable environment,the spatial position coordinates of the coating robot based on the camera calibration was calculated to carry out the image Jacobian matrix and the observation arm Jacobian matrix.The experimental results show that the method can effectively position and track the target,and has the ability to adapt to the external environment.