The invention provides a medlar picking device with a distributed machine vision system for solving problems existing in the prior art. The medlar picking device comprises a rack and a control system, a driving system, a power system, a high-position vision system, a low-position vision system, a vision lifting system, a medlar picking mechanical hand and a branch positioning mechanical hand which are arranged on the rack. The high-position vision system is connected with the rack through the vision lifting system. The vision lifting system moves so that the high-position vision system can be driven to move, and therefore images at the high position are collected. The medlar picking device further comprises a sliding table lifting system arranged on the rack. The low-position vision system, the vision lifting system, the medlar picking mechanical hand and the branch positioning mechanical hand are arranged on the sliding table lifting system through an electric rotating disc and then connected with the rack. According to the medlar picking device, the field of view of the vision system is greatly enlarged, and the problem that the machine vision and mechanical hand picking working range in a narrow field of a medlar picking machine are limited is greatly solved.