Problem to the prior art existence, the utility model provides an intelligence is discerned matrimony vine and is picked device who possesses distributed machine vision system. The device includes the frame and sets up electrical power generating system, control system, actuating system, machine vision system, matrimony vine picking manipulator, branch location manipulator, matrimony vine picking head and the fruit collection device in the frame, control system passes through the actuating system and links to each other respectively with machine vision system, matrimony vine picking manipulator, branch location manipulator, matrimony vine picking head and fruit collection device. The utility model discloses it discernes the method that the matrimony vine picking machine carries out the matrimony vine harvesting based on above -mentioned image still to have provided one kind. The matrimony vine is picked the device and has realized collecting automatic, the efficient of wolfberry fruit, and having solved wolfberry fruit, to gather the in -process fruit easily broken, and the easily stifled problem of leaf has greatly reduced manufacturing cost, has good practical application prospect.