The invention relates to a fruit picking machine capable of accurately searching fruit positions. The fruit picking machine comprises a walking device, a collecting box, a feeding device and a pickinglifting air cylinder, wherein a picking lifting seat is arranged on the picking lifting air cylinder, and a picking mechanism is arranged on the picking lifting seat; the feeding device comprises a feeding lower pipe which is communicated with the collecting box and vertically extends, an inclined feeding middle pipe is communicated to the feeding lower pipe, a vertical feeding upper pipe is communicated to the feeding middle pipe, a vertical upward visual detector is arranged on the feeding upper pipe, an outward lower inclined air blowing opening is arranged in the lateral side of the feeding lower pipe, the air blowing opening is communicated with an air blowing pump, and force damping elastic blocks are arranged at the matched positions among the feeding lower pipe, the feeding middlepipe and the feeding upper pipe. According to the fruit picking machine disclosed by the invention, the visual detector is arranged on the feeding pipe, the feeding pipe is communicated with the airblowing pump, and the air blowing pump can blow air upwards continuously; thus, the fruits are prevented from being shaded by leaves, the fruit positions can be comprehensively detected by the visualdetector, and more complete picking can be achieved.