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This study investigates the low mechanization level of grape picking, and the problems associated with the difficult location of grape picking points in three-dimensional space. A method for rapidly locating the picking points of table grapes based on an infrared tube was proposed in this paper. Firstly, the Otsu algorithm and the maximum connected domain were used to obtain the image of the target grape, which realized the fast recognition and segmentation of the target grape in two-dimensional space. Secondly, a location device for grape-picking points based on an infrared tube was designed, which resolved the technical problem related to the difficulty of locating picking points in three-dimensional space, and realized the accurate positioning of picking points for table grapes. Finally, the experimental results show that the proposed method can quickly and accurately locate the picking points of table grapes in three-dimensional space. The average running time of the proposed algorithm is 0.61 s, and the success rate of location identification is 90.0%. It provides a feasible scheme for the mechanized picking of table grapes.