The invention discloses an on-pile crawling platform based on visual guidance. The on-pile crawling platform comprises a framework, front guide tracks, rear guide tracks, a middle supporting leg assembly cushion plate, a front supporting leg assembly, a middle supporting leg assembly, a rear supporting leg assembly and a vision control system, the middle supporting leg assembly is fixed to the framework by the middle supporting leg assembly cushion plate, the front guide tracks and the rear guide tracks are hinged with the framework, the front supporting leg assembly and the rear supporting leg assembly are in sliding fit with the front guide tracks and the rear guide tracks, the front supporting leg assembly is connected with the middle supporting leg assembly by a left front horizontal cylinder and a right front horizontal cylinder, the rear supporting leg assembly is connected with the middle supporting leg assembly by a left rear horizontal cylinder and a right rear horizontal cylinder, the vision control system consists of cameras, an image processing device and cylinder positioning devices, the cameras are fixed onto the framework, and the cylinder positioning devices are mounted on the cylinders. The on-pile crawling platform based on visual guidance can adapt to complicated conditions that distances among piles within a certain range are unequal, heights of the piles are different, the piles are oblique, and the like. In addition, the integral on-pile crawling platform does not need to contact with the ground or a water surface, and requirements on a working environment are simple.