The present application discloses a signal transmitting device based on visible light communication, which includes a first control unit and a visible light emitting unit array, wherein the first control unit is configured to acquire target data and generate a light emission control instruction based on the target data according to a set encoding rule, and the light emission control instruction includes an instruction for controlling the light-dark state of each light emitting unit in the visible light emitting unit array, and the visible light emitting unit array is configured to transmit the target data in form of a visible light signal according to the light emission control instruction. The present application further discloses a signal receiving device based on visible light communication, a visible light communication system and a visible light communication method.