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In order to complete the autonomous capture of the manipulator in a non-specific complex background environment, the object in the scene is detected in real time by designing the RGB-D camera, and the target detection and positioning method based on deep learning is adopted. The three-dimensional calibration model is studied, and the computer vision detection technology and the robot arm motion planning are applied to the robot operating system ROS platform. The experimental results show that the system can operate the robot in real time and efficiently to complete the specified control operations, and improve the system"s adaptability to the environment. The system has the characteristics of accurate grabbing and high object recognition accuracy, which solves the traditional robot arm control Insufficient.