The work aims to propose a control system of the packaging palletizing robot based on machine vision detection to improve the self-distinguishing ability of palletizing robot and the efficiency of palletizing. Firstly, the working process of machine vision palletizing robot was analyzed, and the control system of palletizing robot was designed based on industrial control computer and image acquisition card, and the hardware design and software design of the control system were expounded. At the same time, the image processed by the machine vision was filtered and segmented to improve the visual detection efficiency of the robot. The experimental results showed that the leakage rate of the machine vision palletizing robot was 0, and the error rate was less than 0.5%. The control system can effectively solve the classification and stacking of the regular items, and realize the high efficient item stacking.