The invention relates to a visual detection-based inspection device, which includes a car body, a rotating platform, a camera device, an infrared device, a speed detection device, a grabbing device, a weight detection device, a weight balance device, and a central control module. The present invention collects the original environment map by setting the camera device, compares the real-time environment map with the original environment map to determine the target object through the central control module, and recognizes the size of the target object by setting the infrared device, accurately determines the range of the target object, and has high work efficiency. The target is further judged by detecting the moving speed of the target, and the weight balance device is adjusted by detecting the real-time grasping weight, which ensures the stable operation of the inspection mechanism and improves the service life. The method of surrounding the edge of the inspection area can make all The inspection device is applied to areas with complex shapes, and at the same time, the inspection device can be applied to different working environments by setting different size information and speed information.