In order to realize the three-dimensional positioning function of the industrial robot to target objects, a novel structured-light vision guided industrial robot positioning system is proposed. Structured-light auto-scanning measurement module consisting of industrial camera, laser, and galvanometer is used as the vision senor of the positioning system. By scanning target objects with laser plane through the rotation of the galvanometer, the three-dimensional pose of target objects in camera coordinate is obtained. For the conversion of target objects three-dimensional pose from the camera coordinate system to the robot tool coordinate system, a simultaneous calibration scheme of the robot hand-eye relationship and the tool coordinate system is put forward. The three-dimensional positioning function of the industrial robot to target objects with random position and orientation can be implemented. Experimental results show that the proposed system has high positioning accuracy, and its flexibility and accuracy can meet the requirements of industrial applications.