The invention provides a positioning tracking type warning device which comprises a power supply, a master processor, an infrared detection module, a pedestrian detecting tracking module, a voice prompting device, a light caution board and a positioning display. The master processor is connected with the power supply, the infrared detection module, the pedestrian detection tracking module and thepositioning display via cables; the pedestrian detecting tracking module is connected with the voice prompting device and the light caution board via cables; and the infrared detecting module, the pedestrian detecting tracking module, the voice prompting device and the light caution board are arranged in a danger caution area. The provided positioning tracking type warning device can overcome problems that caution is too passive and not targeted in the prior art, a target entering the danger cautioning area can be detected rapidly, and the problems that return of a detection video to the master process takes much time and the computing load of the master processor is too high are also solved.