Abstract: The loading and unloading of the workpiece on the automatic production line is one of the problems that need to be solved urgently in the industrial production, especially when the workpiece is in a disorderly stacking situation. The two-dimensional and three-dimensional measurement and information fusion methods of machine vision are used, and the binocular stereoscopic vision technology is adopted to carry out two-dimensional and three-dimensional measurement of the workpiece in the scattered stacking state, so as to obtain the three-dimensional point cloud data of the workpiece in the stacking state. Then through the segmentation of the entire three-dimensional point cloud data, the three-dimensional data belonging to the visible part of a single workpiece under the condition of concentration can be obtained. Finally, through the three-dimensional data of a single workpiece obtained discretely by the CAD model of the established workpiece, the three-dimensional point cloud is matched to determine the three-dimensional pose of the target workpiece in the disorderly stacking, and the motion track and action program of the six-joint robot is automatically generated to control the grasping, so as to complete the sorting of the workpiece.