The invention discloses a self-service vending method of a container on the basis of binocular vision. The method comprises the following steps that a first planar image and a second planar image of atarget area of a vending machine or a vending cabinet are shot through binocular cameras fixed at the opposite positions in the container; a binocular vision processing algorithm is adopted for processing the first planar image and the second planar image, and a three-dimensional coordinate space of a target object is established; on the basis of deep leaning cognitive features of images in the three-dimensional coordinate space, the goods type of the object is identified.