The invention discloses high-altitude picking equipment. The high-altitude picking equipment comprises a shearing mechanism, a telescopic mechanism, a driving mechanism, a single-chip microcomputer and a storage bin; the shearing mechanism comprises a steering gear and scissors, wherein the scissors are connected to the steering gear through a connecting bar; the telescopic mechanism comprises a fixed plate, supporting bars, cross bars, a platform plate and a cylinder, wherein the cylinder is mounted on the fixed plate and can slide back and forth on a guide rail, a plurality of supporting bars connected end to end are fixed between the platform plate and the fixed plate, and the cross bars are arranged between adjacent connected supporting rods; the driving mechanism comprises a mechanismbody, wherein a brushless motor is arranged in the mechanism body, a chain wheel is fixed to a drive shaft of the brushless motor, a Mai wheel and an encoder are driven to rotate through the meshingtransmission of a chain and the chain wheel, and the movement parameters of the Mai wheel are transmitted to the single-chip microcomputer through the encoder. The high-altitude picking equipment cansave the picking time without manpower, and the fully automatic fruit picking equipment makes people more and more relaxed and comfortable under intelligent conditions.