In order to solve the labor and efficiency problem of manual picking up balls, a kind of wheeled intelligent pick-up robot is designed, which is used with binocular vision and manipulator for picking up balls. The robot could be realized of the real-time acquisition and processing of ball image based on the binocular camera and LabVIEW platform; the motion control system could be realized of the drive of each module based on NUCLEOF411RE embedded development board based on STM32F411 cor; the five degrees of freedom (5 DOF) manipulator could pick up balls. the infrared sensors can detect the surrounding environment and achieve obstacle avoidance balls; the counter could count the number of balls; unloading balls could be assisted with the remote control module by man-machine interactive technology. The kinematies simulation shows that the robot can pick up a variety of small ball games such as golf, table tennis, tennis and so on.