On the chassis assembly line in the final assembly shop, the customer is planning to robotize the assembly of the middle section of the exhaust pipe. The workpieces are transported to the assembly station by AGVs, and the position of the exhaust pipe in the fixture is uncertain and may not be fully loaded. According to the order, a variety of chassis are to be produced in the same station, and the size of the exhaust pipe is about 2 metres, and the stainless steel material has a certain degree of surface reflection. By using the laser 3D vision system, the customer realised the common line production of different specifications and large-size workpieces to meet the requirements of assembly and loading precision and accuracy, which was highly appreciated by the customer's internal.