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Aiming at the problems of the robot's mis-grabbing when using the teaching method, the method of positioning the robot based on binocular vision is proposed. The dual target setting, hand eye calibration and polar line correction work are completed, and the image is preprocessed by the algorithm of gradation transformation and image filtering to improve the image quality. The gray level distribution of the image is combined with the stereo matching algorithm to improve the accuracy of stereo matching, obtain a better parallax image, process the parallax image to obtain the center point of the palletized product area, and then combine the parallel binocular system and the hand eye. The results of the calibration guide the robot to locate and palletize the product. Experiments show that the method can accurately locate the center point of the product area, obtain its coordinate value, and guide the robot to palletize.