The invention relates to the field of agricultural machinery equipment, and in particular relates to a picking device for agaricus bisporus. The device comprises two longitudinal beams separately distributed along a longitudinal direction of a cultivation box body, a cross beam slidingly arranged on the two longitudinal beams and a picking mechanism slidingly arranged on the cross beam; the crossbeam is provided with a longitudinal displacement mechanism for driving the cross beam to move along a length direction of the longitudinal beams, a transverse displacement mechanism for driving the picking mechanism to move along a length direction of the cross beam, a height lifting mechanism for driving the picking mechanism to move along a height direction of a cultivation box, and a laser scanner lens for detecting a longitudinal position of the mature agaricus bisporus in the cultivation box, and the laser scanner lens is arranged on the lower edge of the cross beam along the length direction of the cross beam; and the picking mechanism includes a displacement platform connected with the transverse displacement mechanism and the height lifting mechanism, and the displacement platformis rotatingly provided with an elastic flat plate and teeth driven by an inflatable capsule to hold the agaricus bisporus. The device provided by the invention has a high degree of automation, agaricus bisporus caps are not easy to damage in the picking process, and therefore the picking quality is improved.