In the paper, for the current operating characteristics of an in-use crane control method for lifting nuclear waste, study its binocular Stereo Vision perturbation suppression method based on the self-immunity controller, using an industrial camera to obtain the data in the working area during the operation of the crane, and through the experimental demonstration, the system has a very good reliability while guaranteeing the positioning accuracy of the visual recognition operating system, indicating that the system is capable of realizing the movement of the crane and positioning control.