The invention discloses a precise recognition method of overlapped shielded fruits, which concretely comprises an image acquisition step, a target object extraction step, a target object depth calculation step, a shielded edge area determining step, a shielded edge information obtaining step, an overlapped shielded fruit separating step, an incomplete target fruit repairing step and a fruit centroid and depth coordinate calculation step, wherein in the target object extraction step, an acquired image is processed to extract fruits, branches and leaves in the image, in the shielded edge information obtaining step, complete information of a shielded edge is obtained through methods of edge detection, edge thinning and edge connecting, and in the overlapped shielded fruit separating step, an overlapped shielded complete edge image is overlapped with a fruit image after being perverted to realize separation of overlapped shielded fruits. For picking robots of fruits, such as apples and citrus, the precise recognition method of the overlapped shielded fruits disclosed by the invention can realize precise recognition for the overlapped shielded fruits, and thus the practical progress of the picking robots is expected to be pushed.