The invention discloses an automatic fruit picking method and device based on visual recognition positioning. The method comprises the following steps of S1, collecting colorful images; S2, extractingthree RGB single-channel gray level images; S3, extracting single-channel images with obvious color components; S4, preprocessing the images; S5, judging whether a fruit target exists in the images or not; S6, obtaining coordinates of the fruit target in a computer pixel coordinate system; S7, converting the pixel coordinates into coordinates of a world coordinate system; S8, calculating a planemotion amount of a grabbing mechanical claw; S9, controlling the grabbing mechanical claw to move, and enabling the fruit target to be located in the center of the camera imaging plane; S10, controlling the grabbing mechanical claw to move forwards perpendicular to the imaging plane; S11, grabbing the fruit target, and cutting off fruit stems; S12, loosening the grabbing mechanical claw, and enabling fruits to fall into a collecting box. The fruit target is determined through image processing and feature matching, the target is tracked and positioned to accurately position the fruit so as to guide accurate picking, and fruit surface damage is reduced.