The invention discloses a floor type fruit picking device. The device comprises a two-degree-of-freedom support unit and a multi-degree-of-freedom electric picking unit. The two-degree-of-freedom support unit comprises a telescopic rod, a base, a first radial bearing, a hinge lower support, a hinge upper support, an upper support connector and a lower support connector. The upper hinge support isconnected with the upper portion of the hinge lower support in a rotating mode, the hinge upper support is connected to the upper support connector, and the upper support connector is internally provided with a linear bearing. The multi-degree-of-freedom electric picking unit is arranged on the linear bearing in the upper support connector in a penetration mode; the bottom of the hinge lower support is connected to the lower support connector, and the first radial bearing is mounted inside the lower support connector. The end of the telescopic rod penetrates the first radial bearing to be connected with the first radial bearing, and the other end of the telescopic rod is connected to the base. The floor type fruit picking device can reduce the labor intensity. Compared with a handheld picking device, the floor type fruit picking device does not require a fruit farmer to hold a picking rod for a long time.