The invention relates to the technical field of automatic control. The invention provides a ZYNQ-based multi-axis multi-motor servo device and a control method thereof. The ZYNQ-based multi-axis multi-motor servo device comprises a vision collection module, an interface module, a vision parallel segmentation module, a vision positioning processing module, a multiprocessor cooperation module, a control algorithm, a control instruction generation module, an external application algorithm module, a driving signal generation module and a driving circuit board; a ZYNQ chip comprises PS0, PS1, DDR,FPGA and DSP; visual information is collected through a camera, and relative position of a target is determined by the vision parallel segmentation module and the vision positioning processing module,a four-loop control instruction is generated according to a relative position signal of the target, feedback current, speed, and a displacement signal, an external control signal is received to generate a final control instruction, and then a driving signal is generated, multiple motors are controlled through the driving circuit board and are fed back, so as to improve the accuracy and the performance of the multi-axis multi-motor servo device, reduce the volume and facilitate the communication.