Abstract: This paper takes the automatic recognition and positioning of intelligent picking as the research object, analyzes the image acquisition and analysis process of the front-end of automatic grape picking, and designs an intelligent picking robot recognition and positioning algorithm which can automatically recognize and locate the target by using Vue bottom-up layer by layer. High definition camera is used to collect the picking target image, the original image is binarized to obtain the gray level of the image, and the grape picking point is obtained by the way of grape image segmentation.Finally, the picking point of grape stem is determined by the way of minimum angle fitting. The experimental results show that the average success rate of intelligent picking robot front-end recognition and positioning method is higher than 90%, and the average running time is 0. 65s, which can quickly and accurately identify and locate the picking objects,and provides a theoretical basis for the promotion of intelligent picking robot technology.