A crane slewing position contact-type measurement device and method are disclosed, the crane slewing position contact-type measurement device comprises a first gear sensor, a second gear sensor, a positioning sensor, a reflective piece and a mechanical travel switch, the first gear sensor, the second gear sensor and the positioning sensor are mounted on a crane slewing platform, and the reflective piece and the mechanical travel switch are fixed installed. The first gear sensor and the second gear sensor are respectively located the left side and the right side of an oscillating bar of the mechanical travel switch. The first gear sensor, the second gear sensor and the positioning sensor all are connected with a signal acquisition / processing module, the signal acquisition / processing module is connected with a microcontroller processing module, the microcontroller processing module is connected to a torque limiter via a RS-485 communication module, the first gear sensor and the second gear sensor are infrared correlation-type photoelectric sensors, and the positioning sensor is a reflective photoelectric switch. The crane slewing position contact-type measurement device uses the mechanical travel switch for mechanical-contact-manner detection of concave and convex state of a gear of a large gear ring, crane slewing angle measurement can be realized, and the crane slewing position contact-type measurement device has the easy installation and debugging advantage.