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_{：The environment of robot is complex, and the random placement of materials makes the precision of object recognition and location low, and the real-time performance is poor, Therefore, an improved geometric moment for mobile robot target recognition is proposed.In this paper, RGB-D camera is used for image acquisition and depth information acquisition, and an improved automatic threshold based on HSV and morphological segmentation algorithm are proposed for object recognition, according to the characteristics of HSV color space and Otsu Algorithm, the material object is segmented, and the segmented object is filtered by gauss filter and morphological low-pass filter OC-CO An algorithm based on Graham and rotating jam is proposed to find the minimum external moment to obtain the exact position and pose of the target material. Experimental results show that the Algorithm has high accuracy and robustness.}