Grasping technology of industrial robots is generally adopted in the way of off-line teaching, the change of the object will lead to the problem of inaccurate grasping. This paper studies a binocular vision monocular multi-object detection method for robot grasping, which enhances the robot′s grasping ability. Firstly, the robot grasping vision detection system is built. This system adopts binocular ranging model to locate depth and single-step multi-target detector to locate pixel coordinates. Through the camera calibration and eye-to-hand hand-eye calibration image pixel coordinates and the depth of the binocular distance measurement model of the coordinate transformation for the robot base coordinate position, robot kinematics model is set up to complete thetransformation from robot base coordinate to robot end coordinate, by ROS, superordination machine and the robot localization is realized, and the result is sent to ROS. After many experiments, it is shown that the target detection error of this method is within 3.5 mm and the depth error is within 1.2 mm, which has a good practical popularization value.