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Aiming at the defects of low efficiency, high randomicity of manual threshold and the false edge of the existing Robinson related algorithms, this paper proposes an edge detection algorithm based on the improved Robinson. It adopts histogram equalization to enhance the image. Then it groups the traditional eight direction gradients of single pixel point into eight groups in accordance with the paired vertical principle, calculates the norm of each gradient group respectively, and takes the maximum as the gradient of the pixel. Finally, it takes the mean gray value of the whole image as the threshold to identify the edge pixels and background pixels. The experimental results show that, comparing with the existing related algorithms, the detection result of improved algorithm is more complete and clearer. In addition, it avoids high randomicity of traditional manual threshold.