A device for selectively harvesting crops on a plant, the device comprising: a picking apparatus, the picking apparatus being rotatable around a central axis, the picking apparatus comprising: a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops; a carriage assembly comprising a first rotational mechanism: a carrier assembly comprising a second rotational mechanism; one or more imaging sensors (1290, 1291); and a processing unit; wherein: each of the plurality of grippers are adjustable between an open position and a closed position; each of the plurality of grippers are configured in the open position to open around the individual crop; each of the plurality of grippers are configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis; the picking apparatus is configured to be coupled to the first rotational mechanism; the device being characterised in that the first rotational mechanism is configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly; the carriage assembly is coupled to the carrier assembly; the processing unit is configured to receive information from the one or more imaging sensors (1290, 1291) to determine the location of the crops to be harvested; and the second rotational mechanism is configured to rotate the carrier assembly around the second rotational mechanism such that the picking apparatus is rotated around the plant when the second rotational mechanism is centered above the plant. a picking apparatus, the picking apparatus being rotatable around a central axis, the picking apparatus comprising: a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops; a carriage assembly comprising a first rotational mechanism: a carrier assembly comprising a second rotational mechanism; one or more imaging sensors (1290, 1291); and a processing unit; wherein: each of the plurality of grippers are adjustable between an open position and a closed position; each of the plurality of grippers are configured in the open position to open around the individual crop; each of the plurality of grippers are configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis; the picking apparatus is configured to be coupled to the first rotational mechanism; the device being characterised in that the first rotational mechanism is configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly; the carriage assembly is coupled to the carrier assembly; the processing unit is configured to receive information from the one or more imaging sensors (1290, 1291) to determine the location of the crops to be harvested; and the second rotational mechanism is configured to rotate the carrier assembly around the second rotational mechanism such that the picking apparatus is rotated around the plant when the second rotational mechanism is centered above the plant. a carrier assembly comprising a second rotational mechanism; one or more imaging sensors (1290, 1291); and a processing unit; wherein: each of the plurality of grippers are adjustable between an open position and a closed position; each of the plurality of grippers are configured in the open position to open around the individual crop; each of the plurality of grippers are configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis; the picking apparatus is configured to be coupled to the first rotational mechanism; each of the plurality of grippers are adjustable between an open position and a closed position; each of the plurality of grippers are configured in the open position to open around the individual crop; each of the plurality of grippers are configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis; the picking apparatus is configured to be coupled to the first rotational mechanism; the device being characterised in that the first rotational mechanism is configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly; the carriage assembly is coupled to the carrier assembly; the processing unit is configured to receive information from the one or more imaging sensors (1290, 1291) to determine the location of the crops to be harvested; and the second rotational mechanism is configured to rotate the carrier assembly around the second rotational mechanism such that the picking apparatus is rotated around the plant when the second rotational mechanism is centered above the plant. the first rotational mechanism is configured to rotate the picking apparatus around the central axis in a rotational path with respect to the carriage assembly; the carriage assembly is coupled to the carrier assembly; the processing unit is configured to receive information from the one or more imaging sensors (1290, 1291) to determine the location of the crops to be harvested; and the second rotational mechanism is configured to rotate the carrier assembly around the second rotational mechanism such that the picking apparatus is rotated around the plant when the second rotational mechanism is centered above the plant.