The invention provides an automatic tracking robot control device and an automatic tracking robot. The device comprises a client side and a tracking side. The tracking side comprises a tracking module, a second wireless communication module, a second control module and a driving module, wherein the tracking module comprises an ultrasonic wave receiver which is arranged on the robot through a steering engine, and the tracking module is used for receiving an ultrasonic wave signal sent by an ultrasonic wave sending module, generating rotating angle information of the steering engine and sending the ultrasonic wave signal and the rotating angle information to the second control module. The second control module is used for obtaining positioning information between the client side and the tracking side according to the ultrasonic wave signal, the rotating angle information and time information, generating walking instruction information according to the position information, and sending the walking instruction information to the driving module. According to the automatic tracking robot control device, the problems that an existing automatic tracking control device is inaccurate in direction determining and signals are prone to being lost are solved.