A sorting system based on industrial robot is proposed for the small size and difficulty in picking during apricot fruit sorting. According to the fixed vision system working principle of monocular vision, establish vision collection platform, combine interior and exterior parameter transformation formula, correct camera installation error and camera imaging distortion by calibration algorithm optimization. The expert PID control system is added on the basis of the original conveyor belt stepper motor. Verify it by robot trajectory planning test. The verification results show that the picking rate of apricots in this system reached 99.1%, meeting the needs of the production line.