The invention discloses an orange picking device, which comprises a handle, a picking head and a visual probe, wherein the picking head is arranged at one end of the handle; the other end of the handle is provided with a control device; the control device is used for controlling the picking head to work; and the handle is arranged to be a telescopic structure, the visual probe is provided with aninput end and an output end, the input end is a miniature camera, the output end is used for connecting a mobile intelligent device, one end of the handle, facing away from the picking head, is provided with a fixing seat, the fixing seat is used for placing the mobile intelligent device, by arranging the visual probe on the picking head end of the handle, the visualization of the picking processcan be realized, the picking quality can be accurately controlled, the mobile intelligent device is preferably a mobile phone, and the monitoring picture is exported through the mobile phone, so thatthe universality of the picking device is stronger.