The invention relates to the field of mobile intelligent ball (comprising but not limited to tennis balls, ping-pong balls, golf balls and the like) picking devices. The invention provides an intelligent tennis ball picking robot which integrates the functions including autonomous navigation, automatic obstacle avoidance, autonomous recognition, picking, collecting, tennis ball conveying, automatic charging and the like. For a ball picking and collecting system based on a conveyor belt with brushes, the structure design is simple, the implementation is easy, and a plurality of tennis balls canbe simultaneously picked up, so that the ball picking efficiency is high; the robot can sense the environment change according to the visual sense or a laser radar, and carries out map updating; therobot can recognize site scribing and the state of an athlete, and can not influence the activity of the athlete; the robot can autonomously roam to form an environment map, and the manual intervention is not needed; the robot can pick up different balls and is compatible to most ball baskets, and the special customization is not needed; and in addition, the autonomous charging is realized, the automatic returning is realized, and thus the management cost is low.