This paper concentrates on the recovery of block-sparse signals, which is not only sparse but also nonzero elements are arrayed into some blocks (clusters) rather than being arbitrary distributed all over the vector, from linear measurements. We establish high-order sufficient conditions based on block RIP to ensure the exact recovery of every block $s$-sparse signal in the noiseless case via mixed $l_2/l_p$ minimization method, and the stable and robust recovery in the case that signals are not accurately block-sparse in the presence of noise. Additionally, a lower bound on necessary number of random Gaussian measurements is gained for the condition to be true with overwhelming probability. Furthermore, the numerical experiments conducted demonstrate the performance of the proposed algorithm.