Apparatus for reading RFID tags of picked goods as they are loaded onto a picked pallet, and a method of picking and tracking goods using the device. The invention is mounted on a pallet support on a pallet conveyance, and has an RFID interrogator connected to at least one antenna mounted on a vertically movable antenna mount. The interrogator triggers the transponders in the goods and sends the decoded replies to the control unit. An object sensor adjacent to the antenna senses the presence of goods, and a control unit controls the movable antenna mount to raise the antenna mount above the goods. A computer having a display visible to an operator loading the pallet conveyance is used to communicate with the operator, confirming the loaded goods are the correct ones, and tracking inventory loaded on the conveyance. A barcode reader may be located on the antenna mount.