The invention discloses a human body following device based on a pyroelectric infrared sensor array. The device comprises an infrared human body tracking device, an analog signal collection device, an A / D converter, a signal processing module and an electric control device, the infrared human body tracking device comprises a pedestal and an upper cover, the upper surface of the pedestal is provided with 12 pyroelectric infrared sensors, the pedestal is provided with 12 Fresnel Lenses outside the pyroelectric infrared sensors in the radial directions respectively, the inner circle of the upper cover is connected with a plugging cylinder downwardly, a connecting line of the pyroelectric infrared sensors is connected with the analog signal collection device, the analog signal collection device is connected with the A / D converter, the A / D converter is connected with the signal processing module, and the signal processing module is connected with an electric control device of a robot. According to the invention, the structure is simple, the cost is lower, the defect that a single detection can only determine the edge of the human body but cannot know the horizontal position of the human body exactly during static detection is overcome, the horizontal position of the tracking object can be obtained more accurately, and the device and method are suitable for robots.