The invention discloses a sea cucumber autonomous identification and grabbing method based on deep learning and binocular positioning. The sea cucumber autonomous identification and grabbing method comprises the following steps: performing underwater sea cucumber identification and positioning based on deep learning; acquiring sea cucumber spatial positioning information by utilizing binocular stereoscopic vision; and performing sea cucumber grabbing by using a PID control method. According to the invention, the GAN model is used to learn the characteristics of underwater sea cucumbers, and the generation network is used to generate sea cucumber samples, thereby effectively solving the problem of sea cucumber training sample insufficiency. According to the invention, mean filtering, medianfiltering and Wiener filtering are combined into a design filtering operator, so that the influence of non-uniform light, high turbidity, low visibility and the like on the image is solved. Accordingto the method, the convolutional neural network is utilized to learn and conclude the existing data, the sea cucumbers are accurately and quickly detected and two-dimensionally positioned, and a powerful guarantee is provided for subsequent spatial three-dimensional positioning and grabbing of the sea cucumbers. High-precision camera internal and external parameters are obtained, and accurate grabbing of the manipulator is guaranteed.