The invention relates to a high-altitude remote fruit picking device based on ergonomics. The device comprises a cross-shaped bracket, a universal joint, a picking rod, an auxiliary control rod, a picking head and a net bag slideway capable of loading fruits. According to the device, the human body is creatively taken as a supporting point, and the supporting point can be flexibly adjusted along with the human position difference; the functions of the two hands are reasonably distributed, the two hands are freed from a traditional rod holding mode and used for more important occasions, and thevalue of the two hands is achieved; through the cooperation of the two hands, the complex azimuthal variation of the picking head is achieved to adapt to complex fruit picking working conditions, thedevice is convenient to use, and the labor intensity is reduced; the device achieves universal picking, and the fruits growing in various directions can be picked; through the cooperation of the twohands, the complex direction control over the picking head is achieved to adapt to picking under complex fruit growth working conditions, the quality of the fruits is ensured, and the work efficiencyis improved.