The efficiency, precision, and automation of fruit and vegetable picking are realized through the integration of multiple mechanical arms in multi-mechanical arm cooperative picking technology, effectively addressing the high costs and low efficiency associated with traditional manual picking methods. The research progress in multi-mechanical arm cooperative picking technology was summarized, and the framework of the multi-mechanical arm cooperative picking system was comprehended. In light of the decision-making challenges in cooperative picking, the cooperative methods and task allocation within cooperative picking task planning was analyzed, and the collision detection, obstacle avoidance strategies, and path planning techniques utilized in cooperative picking with multiple robotic arms was reviewed. The future development direction of multi-mechanical arm cooperative picking technology is outlined, with a proposed development trend that envisions the combination of machine and agronomy, human-machine collaboration, decision-making big models, and multi-algorithm fusion.