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According to the improvement of production efficiency in industrial manufacturing, especially in the automatic assembly process by the robot and the application requirements of picking up the workpiece to 3D scanning technology, this paper designed a visual system that can accurately extract points cloud of the mechanical workpiece surface. The designed scanning system is mainly made up of computer, projector and industrial camera. Based on the principle of optical measurement and machine vision, this paper researched and designed the calibration strategy of industrial camera and projector, the detection strategy of structured light-coding and decoding, and the geometric strategy of points cloud reconstruction in scanning system. For the redundant background plane points cloud of 3D scanning reconstruction of mechanical workpiece, this paper designed an effective segmentation method by randomly selecting the point cloud and constructing the background plane iteratively. Experimental results show that the scheme of using structured light technology, projecting structured grating at different frequencies on the workpiece by projector, acquiring the modulated raster images of mechanical workpiece synchronously by industrial camera, extracting and calculating the grating in the image, and extracting the points cloud on mechanical workpiece surface by triangular detection algorithm has high accuracy and reconstructs the surface cloud of mechanical workpiece effectively.