A color picking device, configured to acquire a color of a target object, comprising: a substrate; a light emitting module, configured to emit white light toward the target object, the light emitting module comprising a light source and a light distribution element configured to collect light emitted by the light source, the light source being located on the substrate; a color receiving module disposed on the substrate, configured to receive light reflected by the target object and having the color of the target object after the target object being illuminated by the white light, the color receiving module comprising a first housing, a lens assembly disposed in the first housing for light distribution and a sensing element for receiving light color, the sensing element being located on the substrate, the lens assembly including a first convex lens, an aperture, a concave lens and a second convex lens coaxially arranged from top to bottom along a top of the first housing, characterized in that the color receiving module further comprises a second housing detachably coupled to the first housing, the first convex lens, the aperture, the concave lens and the second convex lens are arranged in the second housing and downward from the top of the second housing, respectively, and wherein the lens assembly further comprises a third convex lens disposed below the second convex lens and coaxial with the second convex lens, wherein the first convex lens is configured to focus the light being diffusely reflected by the target object and then entering the color receiving module into parallel light, the aperture is configured to shield the surrounding ambient light, the concave lens is configured to diffuse the light such as to eliminate the aberration, and the second convex lens and the third convex lens are stacked such that a combined focal length of the second convex lens and the third convex lens is reduced and the distance from the sensing element to the second convex lens and the third convex lens is shortened. a substrate; a light emitting module, configured to emit white light toward the target object, the light emitting module comprising a light source and a light distribution element configured to collect light emitted by the light source, the light source being located on the substrate; a color receiving module disposed on the substrate, configured to receive light reflected by the target object and having the color of the target object after the target object being illuminated by the white light, the color receiving module comprising a first housing, a lens assembly disposed in the first housing for light distribution and a sensing element for receiving light color, the sensing element being located on the substrate, the lens assembly including a first convex lens, an aperture, a concave lens and a second convex lens coaxially arranged from top to bottom along a top of the first housing, characterized in that the color receiving module further comprises a second housing detachably coupled to the first housing, the first convex lens, the aperture, the concave lens and the second convex lens are arranged in the second housing and downward from the top of the second housing, respectively, and wherein the lens assembly further comprises a third convex lens disposed below the second convex lens and coaxial with the second convex lens, wherein the first convex lens is configured to focus the light being diffusely reflected by the target object and then entering the color receiving module into parallel light, the aperture is configured to shield the surrounding ambient light, the concave lens is configured to diffuse the light such as to eliminate the aberration, and the second convex lens and the third convex lens are stacked such that a combined focal length of the second convex lens and the third convex lens is reduced and the distance from the sensing element to the second convex lens and the third convex lens is shortened.