The invention provides an intelligent recognition medlar picking device provided with a distributed machine vision system for solving the problems existing in the prior art. The medlar picking device comprises a rack, a power source system, a control system, a driving system, the machine vision system, a medlar picking mechanical hand, a branch positioning mechanical hand, a medlar picking head and a fruit collecting device, wherein the power source system, the control system, the driving system, the machine vision system, the medlar picking mechanical hand, the branch positioning mechanical hand, the medlar picking head and the fruit collecting device are arranged on the rack. The control system is connected with the machine vision system, the medlar picking mechanical hand, the branch positioning mechanical hand, the medlar picking head and the fruit collecting device through the driving system. The invention further provides a medlar picking method based on the intelligent recognition medlar picking device. The medlar picking device automatically and efficiently collects medlar fruits, solves the problems that the medlar fruits are prone to breakage in the harvesting process, and the picking device is prone to be blocked by leaves, greatly reduces production cost and has good practical application prospects.