Abstract: In view of shortage of labor resources in agricultural production field and high cost of manual picking，a design scheme of fruit picking robot control system based on STM32 was proposed.The scheme mainly adopted automatic picking to realize intelligent identification and picking of mature fruits.Using STM32 single-chip microcomputer as main control chip of the system，visual recognition part adopted Open MV image processing function as the core.Feasibility of the system was analyzed through experimental verification，and results showed that the system could meet actual use requirements of users.