Abstract: In order to improve the efficiency and accuracy of target tracking of picking robot, it introduced genetic iteration algorithm and fuzzy PID controller in the design of robot vision system and control system. By optimizing the image processing process and the action process of the end of the machine, it obtained the picking effect when the vision system processes the picking image, the high-quality image can be screened by genetic iteration algorithm, and the efficiency of fruit maturity matching can be improved. After fruit recognition, the fuzzy PID control algorithm is used to control the end of the robot’s execution, so that it can track the fruit with higher accuracy and perform picking. Tasks.