Aiming at the problems of high error rate and low efficiency in manual sorting and assembling of multi-type,multi-station,irregular and defective work-pieces in manufacturing industry,a new industrial robot control system based on industrial vision and Ethernet was designed.A hardware system including vision,PLC,HMI and industrial robot was constructed by using the industrial Ethernet.A new method of work-piece detection and recognition based on image matching and circular hole recognition was proposed.Then,a new optimization method was integrated into the system in which PLC was applied to control the industrial robot by the coordinate offset.Finally,the industrial robot was taught and programmed to realize the correct sorting and intelligent assembly.The experimental results show that the recognition rate of the system is 100%,the teaching position of the industrial robot is greatly reduced,the industrial robot program is obviously simplified,and the efficiency of work-pieces sorting and assembly is significantly improved.