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The soft fabric is prone to burr, fold, enfold and blur, which poses a great challenge to the accuracy of visual edge detection and location of the autonomous loading and unloading system of garment robot. In order to overcome the above problems, it proposes an adaptive edge location method based on double filtering in this paper, which can be used to guide the garment robot to achieve grasping of soft fabric automatically. Firstly, the Gauss filtering and morphological filtering are used to smooth the image, then it calculates the canny adaptive threshold based on the edge gradient information and detect the edge, finally it locates the coordinates of edge feature extracted. The experiment results shows that the method is effective(accuracy greater than 96%)and robust tested on the real data sets composed of soft fabric. The method has good application value for the autonomous loading and unloading operation of the garment robot and has positive significance for the construction of the intelligent garment factory.