Machine vision technology improves the ability to detect the environment of industrial robots, which contributes to the improvement of the collaboration efficiency of swarm robots. This paper proposes a roadmap extraction algorithm that utilizes the improved Mean Shift algorithm to extract the roadmap information from images acquired by binocular cameras. Subsequently, the IEO algorithm with K-Means++ is used to optimize the task allocation of the swarm robots. The experiments show that the average error of this paper’s algorithm’s road sign extraction is 0.025m, the ratio of full scene and homing reaches 90.6%, and the results of the scheduling algorithm under the three kinds of task volume are 59.89, 773.08, and 2704.67. The efficiency of scheduling task completion in dispensing experiments is 9.56% higher than that of the comparative algorithms. The experiment proves that the algorithm proposed in this paper has good performance and practical effects on optimizing the industrial robot control system.