Blueberry cultivar Bluecrop was used to establish the vibrating system model for blueberry fruit and blueberry tree. Picking force between the fruit and the branch was used to solve the vibrating models. The calculated suitable vibration frequency for fruit harvesting is 24 rad/s, at which picking efficiency is improved and fallen rate of green fruit is reduced. The vibrating based blueberry picking machine GYL062, which is developed by Northeast Forestry University, was used to harvest blueberries in their mass mature period. Under the calculated suitable vibration frequency, the efficiency of picking was 7.17 kg/min, which was ten times as high as that by handpicking, with fallen rate of green fruit being 5.6%, damage rate of fruit 8.0% and total damage rate of branches 30%.