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Library handling robots can play an important role in promoting the digitization and convenience of libraries. This paper proposes a method of environment perception combined with binocular vision, and solves the contradictory relationship between the approach velocity and the jitter phenomenon in the traditional control method by improving the double closed-loop nonlinear variable structure control of the approach law. Experiments have verified that in terms of approach law velocity, the difference between the actual trajectory and the ideal trajectory of the improved approach law control method proposed in this paper is within the range of 0.009 to 0.197, and the difference between the actual trajectory and the ideal trajectory of the traditional constant velocity approach law method is best when the synovial gain is 0.3, and the difference is between 0.098 and 0.354. At the same time, in the experiment of real-time perception of environmental information, the proposed method can avoid obstacles faster and return to the predetermined trajectory. In contrast, the library handling robot automation control system based on real-time perception of environmental information is more superior.